Update to mujoco 3.3.7 #22
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andrewkaufman
commented
Oct 15, 2025
Comment on lines
-38
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+56
| set_schema_attribute(scene_prim, "mjc:flag:actuation", not is_disabled(1 << 10, data)) | ||
| set_schema_attribute(scene_prim, "mjc:flag:autoreset", not is_disabled(1 << 15, data)) | ||
| set_schema_attribute(scene_prim, "mjc:flag:clampctrl", not is_disabled(1 << 7, data)) | ||
| set_schema_attribute(scene_prim, "mjc:flag:actuation", not is_disabled(1 << 11, data)) | ||
| set_schema_attribute(scene_prim, "mjc:flag:autoreset", not is_disabled(1 << 16, data)) | ||
| set_schema_attribute(scene_prim, "mjc:flag:clampctrl", not is_disabled(1 << 8, data)) | ||
| set_schema_attribute(scene_prim, "mjc:flag:constraint", not is_disabled(1 << 0, data)) | ||
| set_schema_attribute(scene_prim, "mjc:flag:contact", not is_disabled(1 << 4, data)) | ||
| set_schema_attribute(scene_prim, "mjc:flag:damper", not is_disabled(1 << 6, data)) | ||
| set_schema_attribute(scene_prim, "mjc:flag:equality", not is_disabled(1 << 1, data)) | ||
| set_schema_attribute(scene_prim, "mjc:flag:eulerdamp", not is_disabled(1 << 14, data)) | ||
| set_schema_attribute(scene_prim, "mjc:flag:filterparent", not is_disabled(1 << 9, data)) | ||
| set_schema_attribute(scene_prim, "mjc:flag:eulerdamp", not is_disabled(1 << 15, data)) | ||
| set_schema_attribute(scene_prim, "mjc:flag:filterparent", not is_disabled(1 << 10, data)) | ||
| set_schema_attribute(scene_prim, "mjc:flag:frictionloss", not is_disabled(1 << 2, data)) | ||
| set_schema_attribute(scene_prim, "mjc:flag:gravity", not is_disabled(1 << 6, data)) | ||
| set_schema_attribute(scene_prim, "mjc:flag:gravity", not is_disabled(1 << 7, data)) | ||
| set_schema_attribute(scene_prim, "mjc:flag:island", not is_disabled(1 << 18, data)) | ||
| set_schema_attribute(scene_prim, "mjc:flag:limit", not is_disabled(1 << 3, data)) | ||
| set_schema_attribute(scene_prim, "mjc:flag:midphase", not is_disabled(1 << 13, data)) | ||
| set_schema_attribute(scene_prim, "mjc:flag:nativeccd", not is_disabled(1 << 16, data)) | ||
| set_schema_attribute(scene_prim, "mjc:flag:passive", not is_disabled(1 << 5, data)) | ||
| set_schema_attribute(scene_prim, "mjc:flag:refsafe", not is_disabled(1 << 11, data)) | ||
| set_schema_attribute(scene_prim, "mjc:flag:sensor", not is_disabled(1 << 12, data)) | ||
| set_schema_attribute(scene_prim, "mjc:flag:warmstart", not is_disabled(1 << 8, data)) | ||
| set_schema_attribute(scene_prim, "mjc:flag:midphase", not is_disabled(1 << 14, data)) | ||
| set_schema_attribute(scene_prim, "mjc:flag:nativeccd", not is_disabled(1 << 17, data)) | ||
| set_schema_attribute(scene_prim, "mjc:flag:refsafe", not is_disabled(1 << 12, data)) | ||
| set_schema_attribute(scene_prim, "mjc:flag:sensor", not is_disabled(1 << 13, data)) | ||
| set_schema_attribute(scene_prim, "mjc:flag:spring", not is_disabled(1 << 5, data)) | ||
| set_schema_attribute(scene_prim, "mjc:flag:warmstart", not is_disabled(1 << 9, data)) |
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None of this is verified by hand, all by vibe
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link for when I have time to hand verify https://mujoco.readthedocs.io/en/3.3.7/APIreference/APItypes.html#mjtdisablebit
There are a few option & flag changes that impact the schema & thus the converter
andrewkaufman
commented
Oct 15, 2025
| set_schema_attribute(scene_prim, "mjc:flag:energy", is_enabled(1 << 1, data)) | ||
| set_schema_attribute(scene_prim, "mjc:flag:fwdinv", is_enabled(1 << 2, data)) | ||
| set_schema_attribute(scene_prim, "mjc:flag:invdiscrete", is_enabled(1 << 3, data)) | ||
| set_schema_attribute(scene_prim, "mjc:flag:island", is_enabled(1 << 5, data)) |
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@havess I am fairly confused about how to interpret the island flag now.
From 3.3.6 changelog
The promotion of islanding to default involved removing the enable flag mjENBL_ISLAND and converting it to a disable flag mjDSBL_ISLAND.
So I think
- It is a disable bit now
- In MJCF it seems to remain enabled by default
- In the usd schema it defaults
mjc:flag:island = 0- Does that mean disabled? Or does it mean "bit unset" and therefor enabled?
I'm probably overthinking this, but I'm flailing about trying to get the tests passing...
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This is a mistake in the schema, we will need to wait for a fix before moving beyond 3.3.6
I have put up #23 in the mean time to get our CI passing again.
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|
Replaced by #38 |
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Description
There are a few option & flag changes that impact the schema & thus the converter
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