From 225619c964596d35bd37266a191c20fa32bd688a Mon Sep 17 00:00:00 2001 From: Gabe Oppenheimer Date: Wed, 10 Apr 2024 14:31:52 -0700 Subject: [PATCH] Update MuJoCo internal version to be the external version +1 PiperOrigin-RevId: 623607403 Change-Id: Ia8f6516bb6b2fb6a3ecb8273b59e61667098f308 --- CMakeLists.txt | 2 +- dist/mujoco.rc | 8 ++++---- dist/simulate.rc | 8 ++++---- doc/APIreference/APIglobals.rst | 2 +- doc/unity.rst | 4 ++-- include/mujoco/mujoco.h | 2 +- mjx/pyproject.toml | 8 ++++---- python/mujoco/CMakeLists.txt | 4 ++-- python/mujoco/mjpython/Info.plist | 8 ++++---- python/pyproject.toml | 6 +++--- sample/CMakeLists.txt | 2 +- simulate/CMakeLists.txt | 2 +- src/engine/engine_support.c | 4 ++-- unity/Editor/Bindings/MujocoBinaryRetriever.cs | 4 ++-- unity/Runtime/Bindings/MjBindings.cs | 2 +- unity/package.json | 2 +- 16 files changed, 34 insertions(+), 34 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index c4b29d73..f7da3fcd 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -28,7 +28,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON) project( mujoco - VERSION 3.1.4 + VERSION 3.1.5 DESCRIPTION "MuJoCo Physics Simulator" HOMEPAGE_URL "https://mujoco.org" ) diff --git a/dist/mujoco.rc b/dist/mujoco.rc index 88abc66b..51760163 100644 --- a/dist/mujoco.rc +++ b/dist/mujoco.rc @@ -1,6 +1,6 @@ 1 VERSIONINFO -FILEVERSION 3,1,4,0 -PRODUCTVERSION 3,1,4,0 +FILEVERSION 3,1,5,0 +PRODUCTVERSION 3,1,5,0 FILEOS 0x4 FILETYPE 0x1 { @@ -9,9 +9,9 @@ FILETYPE 0x1 BLOCK "040904b0" { VALUE "ProductName", "MuJoCo" - VALUE "ProductVersion", "3.1.4" + VALUE "ProductVersion", "3.1.5" VALUE "FileDescription", "MuJoCo" - VALUE "FileVersion", "3.1.4" + VALUE "FileVersion", "3.1.5" VALUE "InternalName", "mujoco.dll" VALUE "OriginalFilename", "mujoco.dll" VALUE "CompanyName", "Google DeepMind" diff --git a/dist/simulate.rc b/dist/simulate.rc index e483ca44..636f1d2f 100644 --- a/dist/simulate.rc +++ b/dist/simulate.rc @@ -1,8 +1,8 @@ MUJOCO ICON "mujoco.ico" 1 VERSIONINFO -FILEVERSION 3,1,4,0 -PRODUCTVERSION 3,1,4,0 +FILEVERSION 3,1,5,0 +PRODUCTVERSION 3,1,5,0 FILEOS 0x4 FILETYPE 0x1 { @@ -11,9 +11,9 @@ FILETYPE 0x1 BLOCK "040904b0" { VALUE "ProductName", "MuJoCo" - VALUE "ProductVersion", "3.1.4" + VALUE "ProductVersion", "3.1.5" VALUE "FileDescription", "MuJoCo" - VALUE "FileVersion", "3.1.4" + VALUE "FileVersion", "3.1.5" VALUE "InternalName", "simulate.exe" VALUE "OriginalFilename", "simulate.exe" VALUE "CompanyName", "Google DeepMind" diff --git a/doc/APIreference/APIglobals.rst b/doc/APIreference/APIglobals.rst index 78dedeb4..993d47f8 100644 --- a/doc/APIreference/APIglobals.rst +++ b/doc/APIreference/APIglobals.rst @@ -522,7 +522,7 @@ shown in the table below. Their names are in the format ``mjKEY_XXX``. They corr - Maximum number of UI rectangles. Defined in `mjui.h `_. * - ``mjVERSION_HEADER`` - - 314 + - 315 - The version of the MuJoCo headers; changes with every release. This is an integer equal to 100x the software version, so 210 corresponds to version 2.1. Defined in mujoco.h. The API function :ref:`mj_version` returns a number with the same meaning but for the compiled library. diff --git a/doc/unity.rst b/doc/unity.rst index b06d8f54..823d4e91 100644 --- a/doc/unity.rst +++ b/doc/unity.rst @@ -30,14 +30,14 @@ _____ The MuJoCo app needs to be run at least once before the native library can be used, in order to register the library as a trusted binary. Then, copy the dynamic library file from -``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.3.1.4.dylib`` (it can be +``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.3.1.5.dylib`` (it can be found by browsing the contents of ``MuJoCo.app``) and rename it as ``mujoco.dylib``. Linux _____ Expand the ``tar.gz`` archive to ``~/.mujoco``. Then copy the dynamic library from -``~/.mujoco/mujoco-3.1.4/lib/libmujoco.so.3.1.4`` and rename it as ``libmujoco.so``. +``~/.mujoco/mujoco-3.1.5/lib/libmujoco.so.3.1.5`` and rename it as ``libmujoco.so``. Windows _______ diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h index 3d7c6429..faa3587d 100644 --- a/include/mujoco/mujoco.h +++ b/include/mujoco/mujoco.h @@ -24,7 +24,7 @@ extern "C" { #endif // header version; should match the library version as returned by mj_version() -#define mjVERSION_HEADER 314 +#define mjVERSION_HEADER 315 // needed to define size_t, fabs and log10 #include diff --git a/mjx/pyproject.toml b/mjx/pyproject.toml index 4c6b5af8..a321075d 100644 --- a/mjx/pyproject.toml +++ b/mjx/pyproject.toml @@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta" [project] name="mujoco-mjx" -version = "3.1.4" +version = "3.1.5" authors = [ {name = "Google DeepMind", email = "mujoco@deepmind.com"}, ] @@ -31,7 +31,7 @@ dependencies = [ "etils[epath]", "jax", "jaxlib", - "mujoco>=3.1.4.dev0", + "mujoco>=3.1.5.dev0", "scipy", "trimesh", ] @@ -42,6 +42,6 @@ mjx-viewer = "mujoco.mjx.viewer:main" [project.urls] Homepage = "https://github.com/google-deepmind/mujoco/tree/main/mjx" -Documentation = "https://mujoco.readthedocs.io/en/3.1.4" +Documentation = "https://mujoco.readthedocs.io/en/3.1.5" Repository = "https://github.com/google-deepmind/mujoco/tree/main/mjx" -Changelog = "https://mujoco.readthedocs.io/en/3.1.4/changelog.html" +Changelog = "https://mujoco.readthedocs.io/en/3.1.5/changelog.html" diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt index ddbd00c8..7ebe3bdb 100644 --- a/python/mujoco/CMakeLists.txt +++ b/python/mujoco/CMakeLists.txt @@ -84,7 +84,7 @@ if(NOT TARGET mujoco) if(MUJOCO_FRAMEWORK) message("MuJoCo framework is at ${MUJOCO_FRAMEWORK}/mujoco.framework") set(MUJOCO_LIBRARY - ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.1.4.dylib + ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.1.5.dylib ) target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK}) endif() @@ -92,7 +92,7 @@ if(NOT TARGET mujoco) if(NOT MUJOCO_FRAMEWORK) find_library( - MUJOCO_LIBRARY mujoco mujoco.3.1.4 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED + MUJOCO_LIBRARY mujoco mujoco.3.1.5 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED ) find_path(MUJOCO_INCLUDE mujoco/mujoco.h HINTS ${MUJOCO_INCLUDE_DIR} REQUIRED) message("MuJoCo is at ${MUJOCO_LIBRARY}") diff --git a/python/mujoco/mjpython/Info.plist b/python/mujoco/mjpython/Info.plist index ec88a7c5..272f0260 100644 --- a/python/mujoco/mjpython/Info.plist +++ b/python/mujoco/mjpython/Info.plist @@ -7,13 +7,13 @@ CFBundleIdentifier org.mujoco.mjpython CFBundleVersion - 3.1.4 + 3.1.5 CFBundleGetInfoString - 3.1.4 + 3.1.5 CFBundleLongVersionString - 3.1.4 + 3.1.5 CFBundleShortVersionString - 3.1.4 + 3.1.5 CFBundleExecutable mjpython CFBundleIconFile diff --git a/python/pyproject.toml b/python/pyproject.toml index 1594f720..8b6a36f0 100644 --- a/python/pyproject.toml +++ b/python/pyproject.toml @@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta" [project] name = "mujoco" -version = "3.1.4" +version = "3.1.5" authors = [ {name = "Google DeepMind", email = "mujoco@deepmind.com"}, ] @@ -36,9 +36,9 @@ dynamic = ["readme", "scripts"] [project.urls] Homepage = "https://github.com/google-deepmind/mujoco" -Documentation = "https://mujoco.readthedocs.io/en/3.1.4" +Documentation = "https://mujoco.readthedocs.io/en/3.1.5" Repository = "https://github.com/google-deepmind/mujoco" -Changelog = "https://mujoco.readthedocs.io/en/3.1.4/changelog.html" +Changelog = "https://mujoco.readthedocs.io/en/3.1.5/changelog.html" [tool.setuptools] include-package-data = false diff --git a/sample/CMakeLists.txt b/sample/CMakeLists.txt index 9c3b1186..fabb145d 100644 --- a/sample/CMakeLists.txt +++ b/sample/CMakeLists.txt @@ -24,7 +24,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON) project( mujoco_samples - VERSION 3.1.4 + VERSION 3.1.5 DESCRIPTION "MuJoCo samples binaries" HOMEPAGE_URL "https://mujoco.org" ) diff --git a/simulate/CMakeLists.txt b/simulate/CMakeLists.txt index 7dc1e881..4b23bf0a 100644 --- a/simulate/CMakeLists.txt +++ b/simulate/CMakeLists.txt @@ -29,7 +29,7 @@ set(MUJOCO_DEP_VERSION_lodepng project( mujoco_simulate - VERSION 3.1.4 + VERSION 3.1.5 DESCRIPTION "MuJoCo simulate binaries" HOMEPAGE_URL "https://mujoco.org" ) diff --git a/src/engine/engine_support.c b/src/engine/engine_support.c index 1c3b928f..e9caecba 100644 --- a/src/engine/engine_support.c +++ b/src/engine/engine_support.c @@ -38,8 +38,8 @@ //-------------------------- Constants ------------------------------------------------------------- - #define mjVERSION 314 -#define mjVERSIONSTRING "3.1.4" + #define mjVERSION 315 +#define mjVERSIONSTRING "3.1.5" // names of disable flags const char* mjDISABLESTRING[mjNDISABLE] = { diff --git a/unity/Editor/Bindings/MujocoBinaryRetriever.cs b/unity/Editor/Bindings/MujocoBinaryRetriever.cs index 95beee21..e9741b75 100644 --- a/unity/Editor/Bindings/MujocoBinaryRetriever.cs +++ b/unity/Editor/Bindings/MujocoBinaryRetriever.cs @@ -37,7 +37,7 @@ public class MujocoBinaryRetriever { if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/mujoco.dylib") == null) { File.Copy( "/Applications/MuJoCo.app/Contents/Frameworks" + - "/mujoco.framework/Versions/Current/libmujoco.3.1.4.dylib", + "/mujoco.framework/Versions/Current/libmujoco.3.1.5.dylib", mujocoPath + "/mujoco.dylib"); AssetDatabase.Refresh(); } @@ -45,7 +45,7 @@ public class MujocoBinaryRetriever { if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/libmujoco.so") == null) { File.Copy( Environment.GetFolderPath(Environment.SpecialFolder.UserProfile) + - "/.mujoco/mujoco-3.1.4/lib/libmujoco.so.3.1.4", + "/.mujoco/mujoco-3.1.5/lib/libmujoco.so.3.1.5", mujocoPath + "/libmujoco.so"); AssetDatabase.Refresh(); } diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs index 97706459..993f35f1 100644 --- a/unity/Runtime/Bindings/MjBindings.cs +++ b/unity/Runtime/Bindings/MjBindings.cs @@ -108,7 +108,7 @@ public const int mjMAXLINEPNT = 1000; public const int mjMAXPLANEGRID = 200; public const bool THIRD_PARTY_MUJOCO_MJXMACRO_H_ = true; public const bool THIRD_PARTY_MUJOCO_MUJOCO_H_ = true; -public const int mjVERSION_HEADER = 314; +public const int mjVERSION_HEADER = 315; // ------------------------------------Enums------------------------------------ diff --git a/unity/package.json b/unity/package.json index 53a4cac1..0300752a 100644 --- a/unity/package.json +++ b/unity/package.json @@ -1,7 +1,7 @@ { "name": "org.mujoco", "displayName": "MuJoCo", - "version": "3.1.4", + "version": "3.1.5", "description": "MuJoCo importer and runtime plug-in", "dependencies": {}, "author": {