chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Update MuJoCo version to 3.9.0 following the 3.8.1 release

Browse Source 
PiperOrigin-RevId: 913596257
Change-Id: Ib8b27fd2224e38560a209054c1d508a9bba21bbf
This commit is contained in:
Michael Moss
2026-05-11 02:58:23 -07:00
committed by Copybara-Service
parent df59e7d0f1
commit 28548ce51c
16 changed files with 34 additions and 34 deletions
Download Patch File Download Diff File Expand all files Collapse all files
CMakeLists.txt
+1 -1
View File
@@ -29,7 +29,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON)
project(
mujoco
VERSION 3.8.1
VERSION 3.9.0
DESCRIPTION "MuJoCo Physics Simulator"
HOMEPAGE_URL "https://mujoco.org"
)
dist/mujoco.rc
Vendored
+4 -4
View File
@@ -1,6 +1,6 @@
1 VERSIONINFO
FILEVERSION 3,8,1,0
PRODUCTVERSION 3,8,1,0
FILEVERSION 3,9,0,0
PRODUCTVERSION 3,9,0,0
FILEOS 0x4
FILETYPE 0x1
{
@@ -9,9 +9,9 @@ FILETYPE 0x1
BLOCK "040904b0"
{
VALUE "ProductName", "MuJoCo"
VALUE "ProductVersion", "3.8.1"
VALUE "ProductVersion", "3.9.0"
VALUE "FileDescription", "MuJoCo"
VALUE "FileVersion", "3.8.1"
VALUE "FileVersion", "3.9.0"
VALUE "InternalName", "mujoco.dll"
VALUE "OriginalFilename", "mujoco.dll"
VALUE "CompanyName", "Google DeepMind"
dist/simulate.rc
Vendored
+4 -4
View File
@@ -1,8 +1,8 @@
MUJOCO ICON "mujoco.ico"
1 VERSIONINFO
FILEVERSION 3,8,1,0
PRODUCTVERSION 3,8,1,0
FILEVERSION 3,9,0,0
PRODUCTVERSION 3,9,0,0
FILEOS 0x4
FILETYPE 0x1
{
@@ -11,9 +11,9 @@ FILETYPE 0x1
BLOCK "040904b0"
{
VALUE "ProductName", "MuJoCo"
VALUE "ProductVersion", "3.8.1"
VALUE "ProductVersion", "3.9.0"
VALUE "FileDescription", "MuJoCo"
VALUE "FileVersion", "3.8.1"
VALUE "FileVersion", "3.9.0"
VALUE "InternalName", "simulate.exe"
VALUE "OriginalFilename", "simulate.exe"
VALUE "CompanyName", "Google DeepMind"
doc/APIreference/APIglobals.rst
+1 -1
View File
@@ -388,7 +388,7 @@ Defined in `mujoco.h <https://github.com/google-deepmind/mujoco/blob/main/includ
- value
- description
* - ``mjVERSION_HEADER``
- 3008001
- 3009000
- The version of the MuJoCo headers. This is an integer calculated from the version string "S.M.P"
using the formula ``(S * 1e6) + (M * 1e3) + P``. For example, version 4.2.1 is represented as 4002001.
The API function :ref:`mj_version` returns a number with the same meaning
doc/unity.rst
+2 -2
View File
@@ -37,14 +37,14 @@ _____
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.3.8.1.dylib`` (it can be
``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.3.9.0.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-3.8.1/lib/libmujoco.so.3.8.1`` and rename it as ``libmujoco.so``.
``~/.mujoco/mujoco-3.9.0/lib/libmujoco.so.3.9.0`` and rename it as ``libmujoco.so``.
Windows
_______
include/mujoco/mujoco.h
+1 -1
View File
@@ -16,7 +16,7 @@
#define MUJOCO_MUJOCO_H_
// header version; should match the library version as returned by mj_version()
#define mjVERSION_HEADER 3008001
#define mjVERSION_HEADER 3009000
// needed to define size_t, fabs and log10
#include <stdlib.h>
mjx/pyproject.toml
+4 -4
View File
@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
[project]
name="mujoco-mjx"
version = "3.8.1"
version = "3.9.0"
authors = [
{name = "Google DeepMind", email = "mujoco@deepmind.com"},
]
@@ -30,7 +30,7 @@ dependencies = [
"etils[epath]",
"jax",
"jaxlib",
"mujoco>=3.8.1.dev0",
"mujoco>=3.9.0.dev0",
"scipy",
"trimesh",
]
@@ -50,9 +50,9 @@ mjx-viewer = "mujoco.mjx.viewer:main"
[project.urls]
Homepage = "https://github.com/google-deepmind/mujoco/tree/main/mjx"
Documentation = "https://mujoco.readthedocs.io/en/3.8.1"
Documentation = "https://mujoco.readthedocs.io/en/3.9.0"
Repository = "https://github.com/google-deepmind/mujoco/tree/main/mjx"
Changelog = "https://mujoco.readthedocs.io/en/3.8.1/changelog.html"
Changelog = "https://mujoco.readthedocs.io/en/3.9.0/changelog.html"
[tool.isort]
force_single_line = true
python/mujoco/CMakeLists.txt
+2 -2
View File
@@ -86,7 +86,7 @@ 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.3.8.1.dylib
${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.9.0.dylib
)
target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK})
endif()
@@ -94,7 +94,7 @@ if(NOT TARGET mujoco)
if(NOT MUJOCO_FRAMEWORK)
find_library(
MUJOCO_LIBRARY mujoco mujoco.3.8.1 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
MUJOCO_LIBRARY mujoco mujoco.3.9.0 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
)
find_path(MUJOCO_INCLUDE mujoco/mujoco.h HINTS ${MUJOCO_INCLUDE_DIR} REQUIRED)
message("MuJoCo is at ${MUJOCO_LIBRARY}")
python/mujoco/mjpython/Info.plist
+4 -4
View File
@@ -7,13 +7,13 @@
<key>CFBundleIdentifier</key>
<string>org.mujoco.mjpython</string>
<key>CFBundleVersion</key>
<string>3.8.1</string>
<string>3.9.0</string>
<key>CFBundleGetInfoString</key>
<string>3.8.1</string>
<string>3.9.0</string>
<key>CFBundleLongVersionString</key>
<string>3.8.1</string>
<string>3.9.0</string>
<key>CFBundleShortVersionString</key>
<string>3.8.1</string>
<string>3.9.0</string>
<key>CFBundleExecutable</key>
<string>mjpython</string>
<key>CFBundleIconFile</key>
python/pyproject.toml
+3 -3
View File
@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
[project]
name = "mujoco"
version = "3.8.1"
version = "3.9.0"
authors = [
{name = "Google DeepMind", email = "mujoco@deepmind.com"},
]
@@ -35,9 +35,9 @@ dynamic = ["readme", "scripts"]
[project.urls]
Homepage = "https://github.com/google-deepmind/mujoco"
Documentation = "https://mujoco.readthedocs.io/en/3.8.1"
Documentation = "https://mujoco.readthedocs.io/en/3.9.0"
Repository = "https://github.com/google-deepmind/mujoco"
Changelog = "https://mujoco.readthedocs.io/en/3.8.1/changelog.html"
Changelog = "https://mujoco.readthedocs.io/en/3.9.0/changelog.html"
[tool.setuptools]
include-package-data = false
sample/CMakeLists.txt
+1 -1
View File
@@ -24,7 +24,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON)
project(
mujoco_samples
VERSION 3.8.1
VERSION 3.9.0
DESCRIPTION "MuJoCo samples binaries"
HOMEPAGE_URL "https://mujoco.org"
)
simulate/CMakeLists.txt
+1 -1
View File
@@ -29,7 +29,7 @@ set(MUJOCO_DEP_VERSION_lodepng
project(
mujoco_simulate
VERSION 3.8.1
VERSION 3.9.0
DESCRIPTION "MuJoCo simulate binaries"
HOMEPAGE_URL "https://mujoco.org"
)
src/engine/engine_support.c
+2 -2
View File
@@ -43,8 +43,8 @@
//-------------------------- Constants -------------------------------------------------------------
#define mjVERSION 3008001
#define mjVERSIONSTRING "3.8.1"
#define mjVERSION 3009000
#define mjVERSIONSTRING "3.9.0"
// names of disable flags
const char* mjDISABLESTRING[mjNDISABLE] = {
unity/Editor/Bindings/MujocoBinaryRetriever.cs
+2 -2
View File
@@ -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.3.8.1.dylib",
"/mujoco.framework/Versions/Current/libmujoco.3.9.0.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-3.8.1/lib/libmujoco.so.3.8.1",
"/.mujoco/mujoco-3.9.0/lib/libmujoco.so.3.9.0",
mujocoPath + "/libmujoco.so");
AssetDatabase.Refresh();
}
unity/Runtime/Bindings/MjBindings.cs
+1 -1
View File
@@ -113,7 +113,7 @@ public const int mjMAXLINEPNT = 1001;
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 = 3008001;
public const int mjVERSION_HEADER = 3009000;
// ------------------------------------Enums------------------------------------
unity/package.json
+1 -1
View File
@@ -1,7 +1,7 @@
{
"name": "org.mujoco",
"displayName": "MuJoCo",
"version": "3.8.1",
"version": "3.9.0",
"description": "MuJoCo importer and runtime plug-in",
"dependencies": {},
"author": {