Update MuJoCo version to 2.3.3.

PiperOrigin-RevId: 517931617
Change-Id: I7c9960290f1b6e5d5f68a54df617a580f23c57e9

CMakeLists.txt

@@ -28,7 +28,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON)
 
 project(
   mujoco
-  VERSION 2.3.2
+  VERSION 2.3.3
   DESCRIPTION "MuJoCo Physics Simulator"
   HOMEPAGE_URL "https://mujoco.org"
 )

dist/mujoco.rc

@@ -1,6 +1,6 @@
 1 VERSIONINFO
-FILEVERSION 2,3,2,0
+FILEVERSION 2,3,3,0
-PRODUCTVERSION 2,3,2,0
+PRODUCTVERSION 2,3,3,0
 FILEOS 0x4
 FILETYPE 0x1
 {
@@ -9,9 +9,9 @@ FILETYPE 0x1
     BLOCK "040904b0"
     {
       VALUE "ProductName", "MuJoCo"
-      VALUE "ProductVersion", "2.3.2"
+      VALUE "ProductVersion", "2.3.3"
       VALUE "FileDescription", "MuJoCo"
-      VALUE "FileVersion", "2.3.2"
+      VALUE "FileVersion", "2.3.3"
       VALUE "InternalName", "mujoco.dll"
       VALUE "OriginalFilename", "mujoco.dll"
       VALUE "CompanyName", "DeepMind"

dist/simulate.rc

@@ -1,8 +1,8 @@
 MUJOCO ICON "mujoco.ico"
 
 1 VERSIONINFO
-FILEVERSION 2,3,2,0
+FILEVERSION 2,3,3,0
-PRODUCTVERSION 2,3,2,0
+PRODUCTVERSION 2,3,3,0
 FILEOS 0x4
 FILETYPE 0x1
 {
@@ -11,9 +11,9 @@ FILETYPE 0x1
     BLOCK "040904b0"
     {
       VALUE "ProductName", "MuJoCo"
-      VALUE "ProductVersion", "2.3.2"
+      VALUE "ProductVersion", "2.3.3"
       VALUE "FileDescription", "MuJoCo"
-      VALUE "FileVersion", "2.3.2"
+      VALUE "FileVersion", "2.3.3"
       VALUE "InternalName", "simulate.exe"
       VALUE "OriginalFilename", "simulate.exe"
       VALUE "CompanyName", "DeepMind"

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.2.3.2.dylib`` (it can be
+``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.2.3.3.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-2.3.2/lib/libmujoco.so.2.3.2`` and rename it as ``libmujoco.so``.
+``~/.mujoco/mujoco-2.3.3/lib/libmujoco.so.2.3.3`` and rename it as ``libmujoco.so``.
 
 Windows
 _______

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 232
+#define mjVERSION_HEADER 233
 
 // needed to define size_t, fabs and log10
 #include <stdlib.h>

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.2.3.2.dylib
+          ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.2.3.3.dylib
       )
       target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK})
     endif()
@@ -92,7 +92,7 @@ if(NOT TARGET mujoco)
 
   if(NOT MUJOCO_FRAMEWORK)
     find_library(
-      MUJOCO_LIBRARY mujoco mujoco.2.3.2 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
+      MUJOCO_LIBRARY mujoco mujoco.2.3.3 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

@@ -7,13 +7,13 @@
     <key>CFBundleIdentifier</key>
     <string>org.mujoco.mjpython</string>
     <key>CFBundleVersion</key>
-    <string>2.3.2</string>
+    <string>2.3.3</string>
     <key>CFBundleGetInfoString</key>
-    <string>2.3.2</string>
+    <string>2.3.3</string>
     <key>CFBundleLongVersionString</key>
-    <string>2.3.2</string>
+    <string>2.3.3</string>
     <key>CFBundleShortVersionString</key>
-    <string>2.3.2</string>
+    <string>2.3.3</string>
     <key>CFBundleExecutable</key>
     <string>mjpython</string>
     <key>CFBundleIconFile</key>

python/setup.py

@@ -32,7 +32,7 @@ from setuptools import setup
 from setuptools.command import build_ext
 from setuptools.command import install_scripts
 
-__version__ = '2.3.2'
+__version__ = '2.3.3'
 
 MUJOCO_CMAKE = 'MUJOCO_CMAKE'
 MUJOCO_CMAKE_ARGS = 'MUJOCO_CMAKE_ARGS'

sample/CMakeLists.txt

@@ -24,7 +24,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON)
 
 project(
   mujoco_samples
-  VERSION 2.3.2
+  VERSION 2.3.3
   DESCRIPTION "MuJoCo samples binaries"
   HOMEPAGE_URL "https://mujoco.org"
 )

simulate/CMakeLists.txt

@@ -29,7 +29,7 @@ set(MUJOCO_DEP_VERSION_lodepng
 
 project(
   mujoco_simulate
-  VERSION 2.3.2
+  VERSION 2.3.3
   DESCRIPTION "MuJoCo simulate binaries"
   HOMEPAGE_URL "https://mujoco.org"
 )

src/engine/engine_support.c

@@ -36,8 +36,8 @@
   #endif
 #endif
 
-#define mjVERSION 232
+#define mjVERSION 233
-#define mjVERSIONSTRING "2.3.2"
+#define mjVERSIONSTRING "2.3.3"
 
 // names of disable flags
 const char* mjDISABLESTRING[mjNDISABLE] = {

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.2.3.2.dylib",
+                "/mujoco.framework/Versions/Current/libmujoco.2.3.3.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-2.3.2/lib/libmujoco.so.2.3.2",
+                "/.mujoco/mujoco-2.3.3/lib/libmujoco.so.2.3.3",
                 mujocoPath + "/libmujoco.so");
             AssetDatabase.Refresh();
           }

unity/Runtime/Bindings/MjBindings.cs

@@ -101,7 +101,7 @@ 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 = 232;
+public const int mjVERSION_HEADER = 233;
 
 
 // ------------------------------------Enums------------------------------------

unity/package.json

@@ -1,7 +1,7 @@
 {
   "name": "org.mujoco",
   "displayName": "MuJoCo",
-  "version": "2.3.2",
+  "version": "2.3.3",
   "description": "MuJoCo importer and runtime plug-in",
   "dependencies": {},
   "author": {