From 48f10bfcb6254cca8cc2b86559e7ffda32493d68 Mon Sep 17 00:00:00 2001 From: Gabe Oppenheimer Date: Wed, 15 Oct 2025 14:38:15 -0700 Subject: [PATCH] Update MuJoCo to v3.3.8 following the 3.3.7 release. PiperOrigin-RevId: 819919328 Change-Id: Ib34f959f6f8efd83362d49e784aa8e0594036899 --- 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 83b9fdcb..4581d6fe 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -29,7 +29,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON) project( mujoco - VERSION 3.3.7 + VERSION 3.3.8 DESCRIPTION "MuJoCo Physics Simulator" HOMEPAGE_URL "https://mujoco.org" ) diff --git a/dist/mujoco.rc b/dist/mujoco.rc index ac5af878..91194789 100644 --- a/dist/mujoco.rc +++ b/dist/mujoco.rc @@ -1,6 +1,6 @@ 1 VERSIONINFO -FILEVERSION 3,3,7,0 -PRODUCTVERSION 3,3,7,0 +FILEVERSION 3,3,8,0 +PRODUCTVERSION 3,3,8,0 FILEOS 0x4 FILETYPE 0x1 { @@ -9,9 +9,9 @@ FILETYPE 0x1 BLOCK "040904b0" { VALUE "ProductName", "MuJoCo" - VALUE "ProductVersion", "3.3.7" + VALUE "ProductVersion", "3.3.8" VALUE "FileDescription", "MuJoCo" - VALUE "FileVersion", "3.3.7" + VALUE "FileVersion", "3.3.8" VALUE "InternalName", "mujoco.dll" VALUE "OriginalFilename", "mujoco.dll" VALUE "CompanyName", "Google DeepMind" diff --git a/dist/simulate.rc b/dist/simulate.rc index 95679732..79ace4e4 100644 --- a/dist/simulate.rc +++ b/dist/simulate.rc @@ -1,8 +1,8 @@ MUJOCO ICON "mujoco.ico" 1 VERSIONINFO -FILEVERSION 3,3,7,0 -PRODUCTVERSION 3,3,7,0 +FILEVERSION 3,3,8,0 +PRODUCTVERSION 3,3,8,0 FILEOS 0x4 FILETYPE 0x1 { @@ -11,9 +11,9 @@ FILETYPE 0x1 BLOCK "040904b0" { VALUE "ProductName", "MuJoCo" - VALUE "ProductVersion", "3.3.7" + VALUE "ProductVersion", "3.3.8" VALUE "FileDescription", "MuJoCo" - VALUE "FileVersion", "3.3.7" + VALUE "FileVersion", "3.3.8" 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 ec3d772a..5ba9608c 100644 --- a/doc/APIreference/APIglobals.rst +++ b/doc/APIreference/APIglobals.rst @@ -521,7 +521,7 @@ 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`` - - 337 + - 338 - 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 e5a74e14..12ad9acc 100644 --- a/doc/unity.rst +++ b/doc/unity.rst @@ -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.3.3.7.dylib`` (it can be +``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.3.3.8.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-3.3.7/lib/libmujoco.so.3.3.7`` and rename it as ``libmujoco.so``. +``~/.mujoco/mujoco-3.3.8/lib/libmujoco.so.3.3.8`` and rename it as ``libmujoco.so``. Windows _______ diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h index 0ab1e8dd..42272804 100644 --- a/include/mujoco/mujoco.h +++ b/include/mujoco/mujoco.h @@ -16,7 +16,7 @@ #define MUJOCO_MUJOCO_H_ // header version; should match the library version as returned by mj_version() -#define mjVERSION_HEADER 337 +#define mjVERSION_HEADER 338 // needed to define size_t, fabs and log10 #include diff --git a/mjx/pyproject.toml b/mjx/pyproject.toml index 2dc89e2b..eea6902d 100644 --- a/mjx/pyproject.toml +++ b/mjx/pyproject.toml @@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta" [project] name="mujoco-mjx" -version = "3.3.7" +version = "3.3.8" authors = [ {name = "Google DeepMind", email = "mujoco@deepmind.com"}, ] @@ -29,7 +29,7 @@ dependencies = [ "etils[epath]", "jax", "jaxlib", - "mujoco>=3.3.7.dev0", + "mujoco>=3.3.8.dev0", "scipy", "trimesh", ] @@ -45,9 +45,9 @@ mjx-viewer = "mujoco.mjx.viewer:main" [project.urls] Homepage = "https://github.com/google-deepmind/mujoco/tree/main/mjx" -Documentation = "https://mujoco.readthedocs.io/en/3.3.7" +Documentation = "https://mujoco.readthedocs.io/en/3.3.8" Repository = "https://github.com/google-deepmind/mujoco/tree/main/mjx" -Changelog = "https://mujoco.readthedocs.io/en/3.3.7/changelog.html" +Changelog = "https://mujoco.readthedocs.io/en/3.3.8/changelog.html" [tool.isort] force_single_line = true diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt index 90fab4eb..10c512c6 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.3.3.7.dylib + ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.3.8.dylib ) target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK}) endif() @@ -92,7 +92,7 @@ if(NOT TARGET mujoco) if(NOT MUJOCO_FRAMEWORK) find_library( - MUJOCO_LIBRARY mujoco mujoco.3.3.7 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED + MUJOCO_LIBRARY mujoco mujoco.3.3.8 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 36c72905..c4766113 100644 --- a/python/mujoco/mjpython/Info.plist +++ b/python/mujoco/mjpython/Info.plist @@ -7,13 +7,13 @@ CFBundleIdentifier org.mujoco.mjpython CFBundleVersion - 3.3.7 + 3.3.8 CFBundleGetInfoString - 3.3.7 + 3.3.8 CFBundleLongVersionString - 3.3.7 + 3.3.8 CFBundleShortVersionString - 3.3.7 + 3.3.8 CFBundleExecutable mjpython CFBundleIconFile diff --git a/python/pyproject.toml b/python/pyproject.toml index c5936049..f42aa7f9 100644 --- a/python/pyproject.toml +++ b/python/pyproject.toml @@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta" [project] name = "mujoco" -version = "3.3.7" +version = "3.3.8" authors = [ {name = "Google DeepMind", email = "mujoco@deepmind.com"}, ] @@ -34,9 +34,9 @@ dynamic = ["readme", "scripts"] [project.urls] Homepage = "https://github.com/google-deepmind/mujoco" -Documentation = "https://mujoco.readthedocs.io/en/3.3.7" +Documentation = "https://mujoco.readthedocs.io/en/3.3.8" Repository = "https://github.com/google-deepmind/mujoco" -Changelog = "https://mujoco.readthedocs.io/en/3.3.7/changelog.html" +Changelog = "https://mujoco.readthedocs.io/en/3.3.8/changelog.html" [tool.setuptools] include-package-data = false diff --git a/sample/CMakeLists.txt b/sample/CMakeLists.txt index fed247f5..f0ea153a 100644 --- a/sample/CMakeLists.txt +++ b/sample/CMakeLists.txt @@ -24,7 +24,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON) project( mujoco_samples - VERSION 3.3.7 + VERSION 3.3.8 DESCRIPTION "MuJoCo samples binaries" HOMEPAGE_URL "https://mujoco.org" ) diff --git a/simulate/CMakeLists.txt b/simulate/CMakeLists.txt index 4a615018..97b10f3b 100644 --- a/simulate/CMakeLists.txt +++ b/simulate/CMakeLists.txt @@ -29,7 +29,7 @@ set(MUJOCO_DEP_VERSION_lodepng project( mujoco_simulate - VERSION 3.3.7 + VERSION 3.3.8 DESCRIPTION "MuJoCo simulate binaries" HOMEPAGE_URL "https://mujoco.org" ) diff --git a/src/engine/engine_support.c b/src/engine/engine_support.c index d1fc645f..6c07b760 100644 --- a/src/engine/engine_support.c +++ b/src/engine/engine_support.c @@ -41,8 +41,8 @@ //-------------------------- Constants ------------------------------------------------------------- - #define mjVERSION 337 -#define mjVERSIONSTRING "3.3.7" + #define mjVERSION 338 +#define mjVERSIONSTRING "3.3.8" // names of disable flags const char* mjDISABLESTRING[mjNDISABLE] = { diff --git a/unity/Editor/Bindings/MujocoBinaryRetriever.cs b/unity/Editor/Bindings/MujocoBinaryRetriever.cs index 67977e52..bdd7bd74 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.3.3.7.dylib", + "/mujoco.framework/Versions/Current/libmujoco.3.3.8.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-3.3.7/lib/libmujoco.so.3.3.7", + "/.mujoco/mujoco-3.3.8/lib/libmujoco.so.3.3.8", mujocoPath + "/libmujoco.so"); AssetDatabase.Refresh(); } diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs index 8ad78169..e9a7aa43 100644 --- a/unity/Runtime/Bindings/MjBindings.cs +++ b/unity/Runtime/Bindings/MjBindings.cs @@ -111,7 +111,7 @@ 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 = 337; +public const int mjVERSION_HEADER = 338; // ------------------------------------Enums------------------------------------ diff --git a/unity/package.json b/unity/package.json index 43bffbde..3e6f5342 100644 --- a/unity/package.json +++ b/unity/package.json @@ -1,7 +1,7 @@ { "name": "org.mujoco", "displayName": "MuJoCo", - "version": "3.3.7", + "version": "3.3.8", "description": "MuJoCo importer and runtime plug-in", "dependencies": {}, "author": {