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Update MuJoCo version to 3.8.1 following the 3.8.0 release

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PiperOrigin-RevId: 905108575
Change-Id: Ief1f9c6f34559e7a5ccc60dcceec589316bcdf9e
This commit is contained in:
Michael Moss
2026-04-24 10:37:13 -07:00
committed by Copybara-Service
parent 34d69ad4cb
commit 2b7cc28afa
16 changed files with 34 additions and 34 deletions
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CMakeLists.txt
+1 -1
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@@ -29,7 +29,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON)
project( project(
mujoco mujoco
VERSION 3.8.0 VERSION 3.8.1
DESCRIPTION "MuJoCo Physics Simulator" DESCRIPTION "MuJoCo Physics Simulator"
HOMEPAGE_URL "https://mujoco.org" HOMEPAGE_URL "https://mujoco.org"
) )
dist/mujoco.rc
Vendored
+4 -4
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@@ -1,6 +1,6 @@
1 VERSIONINFO 1 VERSIONINFO
FILEVERSION 3,8,0,0 FILEVERSION 3,8,1,0
PRODUCTVERSION 3,8,0,0 PRODUCTVERSION 3,8,1,0
FILEOS 0x4 FILEOS 0x4
FILETYPE 0x1 FILETYPE 0x1
{ {
@@ -9,9 +9,9 @@ FILETYPE 0x1
BLOCK "040904b0" BLOCK "040904b0"
{ {
VALUE "ProductName", "MuJoCo" VALUE "ProductName", "MuJoCo"
VALUE "ProductVersion", "3.8.0" VALUE "ProductVersion", "3.8.1"
VALUE "FileDescription", "MuJoCo" VALUE "FileDescription", "MuJoCo"
VALUE "FileVersion", "3.8.0" VALUE "FileVersion", "3.8.1"
VALUE "InternalName", "mujoco.dll" VALUE "InternalName", "mujoco.dll"
VALUE "OriginalFilename", "mujoco.dll" VALUE "OriginalFilename", "mujoco.dll"
VALUE "CompanyName", "Google DeepMind" VALUE "CompanyName", "Google DeepMind"
dist/simulate.rc
Vendored
+4 -4
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@@ -1,8 +1,8 @@
MUJOCO ICON "mujoco.ico" MUJOCO ICON "mujoco.ico"
1 VERSIONINFO 1 VERSIONINFO
FILEVERSION 3,8,0,0 FILEVERSION 3,8,1,0
PRODUCTVERSION 3,8,0,0 PRODUCTVERSION 3,8,1,0
FILEOS 0x4 FILEOS 0x4
FILETYPE 0x1 FILETYPE 0x1
{ {
@@ -11,9 +11,9 @@ FILETYPE 0x1
BLOCK "040904b0" BLOCK "040904b0"
{ {
VALUE "ProductName", "MuJoCo" VALUE "ProductName", "MuJoCo"
VALUE "ProductVersion", "3.8.0" VALUE "ProductVersion", "3.8.1"
VALUE "FileDescription", "MuJoCo" VALUE "FileDescription", "MuJoCo"
VALUE "FileVersion", "3.8.0" VALUE "FileVersion", "3.8.1"
VALUE "InternalName", "simulate.exe" VALUE "InternalName", "simulate.exe"
VALUE "OriginalFilename", "simulate.exe" VALUE "OriginalFilename", "simulate.exe"
VALUE "CompanyName", "Google DeepMind" VALUE "CompanyName", "Google DeepMind"
doc/APIreference/APIglobals.rst
+1 -1
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@@ -388,7 +388,7 @@ Defined in `mujoco.h <https://github.com/google-deepmind/mujoco/blob/main/includ
- value - value
- description - description
* - ``mjVERSION_HEADER`` * - ``mjVERSION_HEADER``
- 3008000 - 3008001
- The version of the MuJoCo headers. This is an integer calculated from the version string "S.M.P" - 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. 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 The API function :ref:`mj_version` returns a number with the same meaning
doc/unity.rst
+2 -2
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@@ -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 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 a trusted binary. Then, copy the dynamic library file from
``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.3.8.0.dylib`` (it can be ``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.3.8.1.dylib`` (it can be
found by browsing the contents of ``MuJoCo.app``) and rename it as ``mujoco.dylib``. found by browsing the contents of ``MuJoCo.app``) and rename it as ``mujoco.dylib``.
Linux Linux
_____ _____
Expand the ``tar.gz`` archive to ``~/.mujoco``. Then copy the dynamic library from Expand the ``tar.gz`` archive to ``~/.mujoco``. Then copy the dynamic library from
``~/.mujoco/mujoco-3.8.0/lib/libmujoco.so.3.8.0`` and rename it as ``libmujoco.so``. ``~/.mujoco/mujoco-3.8.1/lib/libmujoco.so.3.8.1`` and rename it as ``libmujoco.so``.
Windows Windows
_______ _______
include/mujoco/mujoco.h
+1 -1
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@@ -16,7 +16,7 @@
#define MUJOCO_MUJOCO_H_ #define MUJOCO_MUJOCO_H_
// header version; should match the library version as returned by mj_version() // header version; should match the library version as returned by mj_version()
#define mjVERSION_HEADER 3008000 #define mjVERSION_HEADER 3008001
// needed to define size_t, fabs and log10 // needed to define size_t, fabs and log10
#include <stdlib.h> #include <stdlib.h>
mjx/pyproject.toml
+4 -4
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@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
[project] [project]
name="mujoco-mjx" name="mujoco-mjx"
version = "3.8.0" version = "3.8.1"
authors = [ authors = [
{name = "Google DeepMind", email = "mujoco@deepmind.com"}, {name = "Google DeepMind", email = "mujoco@deepmind.com"},
] ]
@@ -30,7 +30,7 @@ dependencies = [
"etils[epath]", "etils[epath]",
"jax", "jax",
"jaxlib", "jaxlib",
"mujoco>=3.8.0.dev0", "mujoco>=3.8.1.dev0",
"scipy", "scipy",
"trimesh", "trimesh",
] ]
@@ -46,9 +46,9 @@ mjx-viewer = "mujoco.mjx.viewer:main"
[project.urls] [project.urls]
Homepage = "https://github.com/google-deepmind/mujoco/tree/main/mjx" Homepage = "https://github.com/google-deepmind/mujoco/tree/main/mjx"
Documentation = "https://mujoco.readthedocs.io/en/3.8.0" Documentation = "https://mujoco.readthedocs.io/en/3.8.1"
Repository = "https://github.com/google-deepmind/mujoco/tree/main/mjx" Repository = "https://github.com/google-deepmind/mujoco/tree/main/mjx"
Changelog = "https://mujoco.readthedocs.io/en/3.8.0/changelog.html" Changelog = "https://mujoco.readthedocs.io/en/3.8.1/changelog.html"
[tool.isort] [tool.isort]
force_single_line = true force_single_line = true
python/mujoco/CMakeLists.txt
+2 -2
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@@ -86,7 +86,7 @@ if(NOT TARGET mujoco)
if(MUJOCO_FRAMEWORK) if(MUJOCO_FRAMEWORK)
message("MuJoCo framework is at ${MUJOCO_FRAMEWORK}/mujoco.framework") message("MuJoCo framework is at ${MUJOCO_FRAMEWORK}/mujoco.framework")
set(MUJOCO_LIBRARY set(MUJOCO_LIBRARY
${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.8.0.dylib ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.8.1.dylib
) )
target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK}) target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK})
endif() endif()
@@ -94,7 +94,7 @@ if(NOT TARGET mujoco)
if(NOT MUJOCO_FRAMEWORK) if(NOT MUJOCO_FRAMEWORK)
find_library( find_library(
MUJOCO_LIBRARY mujoco mujoco.3.8.0 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED MUJOCO_LIBRARY mujoco mujoco.3.8.1 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
) )
find_path(MUJOCO_INCLUDE mujoco/mujoco.h HINTS ${MUJOCO_INCLUDE_DIR} REQUIRED) find_path(MUJOCO_INCLUDE mujoco/mujoco.h HINTS ${MUJOCO_INCLUDE_DIR} REQUIRED)
message("MuJoCo is at ${MUJOCO_LIBRARY}") message("MuJoCo is at ${MUJOCO_LIBRARY}")
python/mujoco/mjpython/Info.plist
+4 -4
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@@ -7,13 +7,13 @@
<key>CFBundleIdentifier</key> <key>CFBundleIdentifier</key>
<string>org.mujoco.mjpython</string> <string>org.mujoco.mjpython</string>
<key>CFBundleVersion</key> <key>CFBundleVersion</key>
<string>3.8.0</string> <string>3.8.1</string>
<key>CFBundleGetInfoString</key> <key>CFBundleGetInfoString</key>
<string>3.8.0</string> <string>3.8.1</string>
<key>CFBundleLongVersionString</key> <key>CFBundleLongVersionString</key>
<string>3.8.0</string> <string>3.8.1</string>
<key>CFBundleShortVersionString</key> <key>CFBundleShortVersionString</key>
<string>3.8.0</string> <string>3.8.1</string>
<key>CFBundleExecutable</key> <key>CFBundleExecutable</key>
<string>mjpython</string> <string>mjpython</string>
<key>CFBundleIconFile</key> <key>CFBundleIconFile</key>
python/pyproject.toml
+3 -3
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@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
[project] [project]
name = "mujoco" name = "mujoco"
version = "3.8.0" version = "3.8.1"
authors = [ authors = [
{name = "Google DeepMind", email = "mujoco@deepmind.com"}, {name = "Google DeepMind", email = "mujoco@deepmind.com"},
] ]
@@ -35,9 +35,9 @@ dynamic = ["readme", "scripts"]
[project.urls] [project.urls]
Homepage = "https://github.com/google-deepmind/mujoco" Homepage = "https://github.com/google-deepmind/mujoco"
Documentation = "https://mujoco.readthedocs.io/en/3.8.0" Documentation = "https://mujoco.readthedocs.io/en/3.8.1"
Repository = "https://github.com/google-deepmind/mujoco" Repository = "https://github.com/google-deepmind/mujoco"
Changelog = "https://mujoco.readthedocs.io/en/3.8.0/changelog.html" Changelog = "https://mujoco.readthedocs.io/en/3.8.1/changelog.html"
[tool.setuptools] [tool.setuptools]
include-package-data = false include-package-data = false
sample/CMakeLists.txt
+1 -1
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@@ -24,7 +24,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON)
project( project(
mujoco_samples mujoco_samples
VERSION 3.8.0 VERSION 3.8.1
DESCRIPTION "MuJoCo samples binaries" DESCRIPTION "MuJoCo samples binaries"
HOMEPAGE_URL "https://mujoco.org" HOMEPAGE_URL "https://mujoco.org"
) )
simulate/CMakeLists.txt
+1 -1
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@@ -29,7 +29,7 @@ set(MUJOCO_DEP_VERSION_lodepng
project( project(
mujoco_simulate mujoco_simulate
VERSION 3.8.0 VERSION 3.8.1
DESCRIPTION "MuJoCo simulate binaries" DESCRIPTION "MuJoCo simulate binaries"
HOMEPAGE_URL "https://mujoco.org" HOMEPAGE_URL "https://mujoco.org"
) )
src/engine/engine_support.c
+2 -2
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@@ -43,8 +43,8 @@
//-------------------------- Constants ------------------------------------------------------------- //-------------------------- Constants -------------------------------------------------------------
#define mjVERSION 3008000 #define mjVERSION 3008001
#define mjVERSIONSTRING "3.8.0" #define mjVERSIONSTRING "3.8.1"
// names of disable flags // names of disable flags
const char* mjDISABLESTRING[mjNDISABLE] = { const char* mjDISABLESTRING[mjNDISABLE] = {
unity/Editor/Bindings/MujocoBinaryRetriever.cs
+2 -2
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@@ -37,7 +37,7 @@ public class MujocoBinaryRetriever {
if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/mujoco.dylib") == null) { if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/mujoco.dylib") == null) {
File.Copy( File.Copy(
"/Applications/MuJoCo.app/Contents/Frameworks" + "/Applications/MuJoCo.app/Contents/Frameworks" +
"/mujoco.framework/Versions/Current/libmujoco.3.8.0.dylib", "/mujoco.framework/Versions/Current/libmujoco.3.8.1.dylib",
mujocoPath + "/mujoco.dylib"); mujocoPath + "/mujoco.dylib");
AssetDatabase.Refresh(); AssetDatabase.Refresh();
} }
@@ -45,7 +45,7 @@ public class MujocoBinaryRetriever {
if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/libmujoco.so") == null) { if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/libmujoco.so") == null) {
File.Copy( File.Copy(
Environment.GetFolderPath(Environment.SpecialFolder.UserProfile) + Environment.GetFolderPath(Environment.SpecialFolder.UserProfile) +
"/.mujoco/mujoco-3.8.0/lib/libmujoco.so.3.8.0", "/.mujoco/mujoco-3.8.1/lib/libmujoco.so.3.8.1",
mujocoPath + "/libmujoco.so"); mujocoPath + "/libmujoco.so");
AssetDatabase.Refresh(); AssetDatabase.Refresh();
} }
unity/Runtime/Bindings/MjBindings.cs
+1 -1
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@@ -113,7 +113,7 @@ public const int mjMAXLINEPNT = 1001;
public const int mjMAXPLANEGRID = 200; public const int mjMAXPLANEGRID = 200;
public const bool THIRD_PARTY_MUJOCO_MJXMACRO_H_ = true; public const bool THIRD_PARTY_MUJOCO_MJXMACRO_H_ = true;
public const bool THIRD_PARTY_MUJOCO_MUJOCO_H_ = true; public const bool THIRD_PARTY_MUJOCO_MUJOCO_H_ = true;
public const int mjVERSION_HEADER = 3008000; public const int mjVERSION_HEADER = 3008001;
// ------------------------------------Enums------------------------------------ // ------------------------------------Enums------------------------------------
unity/package.json
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@@ -1,7 +1,7 @@
{ {
"name": "org.mujoco", "name": "org.mujoco",
"displayName": "MuJoCo", "displayName": "MuJoCo",
"version": "3.8.0", "version": "3.8.1",
"description": "MuJoCo importer and runtime plug-in", "description": "MuJoCo importer and runtime plug-in",
"dependencies": {}, "dependencies": {},
"author": { "author": {