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Bump version number to 2.3.0.

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PiperOrigin-RevId: 481823754
Change-Id: Ie8c2c65b11178952355830ef019fe2efdf774189
This commit is contained in:
Saran Tunyasuvunakool
2022-10-17 22:36:20 -07:00
committed by Copybara-Service
parent c7c6a870b4
commit 57b0b36699
15 changed files with 83 additions and 84 deletions
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CMakeLists.txt
+1 -1
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@@ -28,7 +28,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON)
project(
mujoco
VERSION 2.2.2
VERSION 2.3.0
DESCRIPTION "MuJoCo Physics Simulator"
HOMEPAGE_URL "https://mujoco.org"
)
dist/mujoco.rc
Vendored
+4 -4
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@@ -1,6 +1,6 @@
1 VERSIONINFO
FILEVERSION 2,2,2,0
PRODUCTVERSION 2,2,2,0
FILEVERSION 2,3,0,0
PRODUCTVERSION 2,3,0,0
FILEOS 0x4
FILETYPE 0x1
{
@@ -9,9 +9,9 @@ FILETYPE 0x1
BLOCK "040904b0"
{
VALUE "ProductName", "MuJoCo"
VALUE "ProductVersion", "2.2.2"
VALUE "ProductVersion", "2.3.0"
VALUE "FileDescription", "MuJoCo"
VALUE "FileVersion", "2.2.2"
VALUE "FileVersion", "2.3.0"
VALUE "InternalName", "mujoco.dll"
VALUE "OriginalFilename", "mujoco.dll"
VALUE "CompanyName", "DeepMind"
dist/simulate.rc
Vendored
+4 -4
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@@ -1,8 +1,8 @@
MUJOCO ICON "mujoco.ico"
1 VERSIONINFO
FILEVERSION 2,2,2,0
PRODUCTVERSION 2,2,2,0
FILEVERSION 2,3,0,0
PRODUCTVERSION 2,3,0,0
FILEOS 0x4
FILETYPE 0x1
{
@@ -11,9 +11,9 @@ FILETYPE 0x1
BLOCK "040904b0"
{
VALUE "ProductName", "MuJoCo"
VALUE "ProductVersion", "2.2.2"
VALUE "ProductVersion", "2.3.0"
VALUE "FileDescription", "MuJoCo"
VALUE "FileVersion", "2.2.2"
VALUE "FileVersion", "2.3.0"
VALUE "InternalName", "simulate.exe"
VALUE "OriginalFilename", "simulate.exe"
VALUE "CompanyName", "DeepMind"
doc/changelog.rst
+59 -60
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@@ -3,82 +3,81 @@ Changelog
=========
Upcoming version (not yet released)
-----------------------------------
Version 2.3.0 (October 18, 2022)
--------------------------------
General
^^^^^^^
- The ``contact`` array and arrays prefixed with ``efc_`` in ``mjData`` were moved out of the ``buffer`` into a new
``arena`` memory space. These arrays are no longer allocated with fixed sizes when ``mjData`` is created.
Instead, the exact memory requirement is determined during each call to :ref:`mj_forward` (specifically,
in :ref:`mj_collision` and :ref:`mj_makeConstraint`) and the arrays are allocated from the ``arena`` space. The
``stack`` now also shares its available memory with ``arena``. This change reduces the memory footprint of ``mjData``
in models that do not use the PGS solver, and will allow for significant memory reductions in the future.
See the :ref:`Memory allocation <CSize>` section for details.
1. The ``contact`` array and arrays prefixed with ``efc_`` in ``mjData`` were moved out of the ``buffer`` into a new
``arena`` memory space. These arrays are no longer allocated with fixed sizes when ``mjData`` is created.
Instead, the exact memory requirement is determined during each call to :ref:`mj_forward` (specifically,
in :ref:`mj_collision` and :ref:`mj_makeConstraint`) and the arrays are allocated from the ``arena`` space. The
``stack`` now also shares its available memory with ``arena``. This change reduces the memory footprint of ``mjData``
in models that do not use the PGS solver, and will allow for significant memory reductions in the future.
See the :ref:`Memory allocation <CSize>` section for details.
.. youtube:: RHnXD6uO3Mg
:align: right
:height: 150px
.. youtube:: RHnXD6uO3Mg
:align: right
:height: 150px
- Added colab notebook tutorial showing how to balance the humanoid on one leg with a Linear Quadratic Regulator. The
notebook uses MuJoCo's native Python bindings, and includes a draft ``Renderer`` class, for easy rendering in Python.
|br| Try it yourself: |LQRopenincolab|
#. Added colab notebook tutorial showing how to balance the humanoid on one leg with a Linear Quadratic Regulator. The
notebook uses MuJoCo's native Python bindings, and includes a draft ``Renderer`` class, for easy rendering in Python.
|br| Try it yourself: |LQRopenincolab|
.. |LQRopenincolab| image:: https://colab.research.google.com/assets/colab-badge.svg
:target: https://colab.research.google.com/github/deepmind/mujoco/blob/main/python/LQR.ipynb
:target: https://colab.research.google.com/github/deepmind/mujoco/blob/main/python/LQR.ipynb
- Updates to humanoid model:
#. Updates to humanoid model:
- Added two keyframes (stand-on-one-leg and squat).
- Increased maximum hip flexion angle.
- Added hamstring tendons which couple the hip and knee at high hip flexion angles.
- General cosmetic improvements, including improved use of defaults and better naming scheme.
* Added two keyframes (stand-on-one-leg and squat).
* Increased maximum hip flexion angle.
* Added hamstring tendons which couple the hip and knee at high hip flexion angles.
* General cosmetic improvements, including improved use of defaults and better naming scheme.
- Added :ref:`mju_boxQP` and allocation function :ref:`mju_boxQPmalloc` for solving the box-constrained
Quadratic Program:
#. Added :ref:`mju_boxQP` and allocation function :ref:`mju_boxQPmalloc` for solving the box-constrained
Quadratic Program:
.. math::
x^* = \text{argmin} \; \tfrac{1}{2} x^T H x + x^T g \quad \text{s.t.} \quad l \le x \le u
The algorithm, introduced in `Tassa et al. 2014 <https://doi.org/10.1109/ICRA.2014.6907001>`_,
converges after 2-5 Cholesky factorisations, independent of problem size.
The algorithm, introduced in `Tassa et al. 2014 <https://doi.org/10.1109/ICRA.2014.6907001>`_,
converges after 2-5 Cholesky factorisations, independent of problem size.
- Added :ref:`mju_mulVecMatVec` to multiply a square matrix :math:`M` with vectors :math:`x` and :math:`y` on both
sides. The function returns :math:`x^TMy`.
#. Added :ref:`mju_mulVecMatVec` to multiply a square matrix :math:`M` with vectors :math:`x` and :math:`y` on both
sides. The function returns :math:`x^TMy`.
- Added new plugin API. Plugins allow developers to extend MuJoCo's capability without modifying core engine code.
The plugin mechanism is intended to replace the existing callbacks, though these will remain for the time being as an
option for simple use cases and backward compatibility. The new mechanism manages stateful plugins and supports
multiple plugins from different sources, allowing MuJoCo extensions to be introduced in a modular fashion, rather than
as global overrides. Note the new mechanism is currently undocumented except in code, as we test it internally.
If you are interested in using the plugin mechanism, please get in touch first.
#. Added new plugin API. Plugins allow developers to extend MuJoCo's capability without modifying core engine code.
The plugin mechanism is intended to replace the existing callbacks, though these will remain for the time being as an
option for simple use cases and backward compatibility. The new mechanism manages stateful plugins and supports
multiple plugins from different sources, allowing MuJoCo extensions to be introduced in a modular fashion, rather
than as global overrides. Note the new mechanism is currently undocumented except in code, as we test it internally.
If you are interested in using the plugin mechanism, please get in touch first.
- Added :at:`assetdir` compiler option, which sets the values of both :at:`meshdir` and :at:`texturedir`. Values in
the latter attributes take precedence over :at:`assetdir`.
#. Added :at:`assetdir` compiler option, which sets the values of both :at:`meshdir` and :at:`texturedir`. Values in
the latter attributes take precedence over :at:`assetdir`.
- Added :at:`realtime` option to :ref:`visual` for starting a simulation at a slower speed.
#. Added :at:`realtime` option to :ref:`visual` for starting a simulation at a slower speed.
- Added new :at:`cable` composite type:
#. Added new :at:`cable` composite type:
* Cable elements are connected with ball joints.
* The `initial` parameter specifies the joint at the starting boundary: :at:`free`, :at:`ball`, or :at:`none`.
* The boundary bodies are exposed with the names :at:`B_left` and :at:`B_right`.
* The vertex initial positions can be specified directly in the XML with the parameter :at:`vertex`.
* The orientation of the body frame **is** the orientation of the material frame of the curve.
- Cable elements are connected with ball joints.
- The `initial` parameter specifies the joint at the starting boundary: :at:`free`, :at:`ball`, or :at:`none`.
- The boundary bodies are exposed with the names :at:`B_left` and :at:`B_right`.
- The vertex initial positions can be specified directly in the XML with the parameter :at:`vertex`.
- The orientation of the body frame **is** the orientation of the material frame of the curve.
- Added new :at:`cable` passive force plugin:
#. Added new :at:`cable` passive force plugin:
* Twist and bending stiffness can be set separately with the parameters :at:`twist` and :at:`bend`.
* The stress-free configuration can be set to be the initial one or flat with the flag :at:`flat`.
* New `cable.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/cable.xml>`_ example
showing the formation of plectoneme.
* New `coil.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/coil.xml>`_ example
showing a curved equilibrium configuration.
* New `belt.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/belt.xml>`_ example
showing interaction between twist and anisotropy.
* Added test using cantilever exact solution.
- Twist and bending stiffness can be set separately with the parameters :at:`twist` and :at:`bend`.
- The stress-free configuration can be set to be the initial one or flat with the flag :at:`flat`.
- New `cable.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/cable.xml>`_ example showing the
formation of plectoneme.
- New `coil.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/coil.xml>`_ example showing a curved
equilibrium configuration.
- New `belt.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/belt.xml>`_ example showing interaction
between twist and anisotropy.
- Added test using cantilever exact solution.
.. youtube:: 25kQP671fJE
:align: right
@@ -94,16 +93,16 @@ General
Python bindings
^^^^^^^^^^^^^^^
11. Added ``id`` and ``name`` properties to
`named accessor <https://mujoco.readthedocs.io/en/latest/python.html#named-access>`_ objects.
These provide more Pythonic API access to ``mj_name2id`` and ``mj_id2name`` respectively.
- Added ``id`` and ``name`` properties to
`named accessor <https://mujoco.readthedocs.io/en/latest/python.html#named-access>`_ objects. These provide more
Pythonic API access to ``mj_name2id`` and ``mj_id2name`` respectively.
#. The length of ``MjData.contact`` is now ``ncon`` rather than ``nconmax``, allowing it to be straightforwardly used as
an iterator without needing to check ``ncon``.
- The length of ``MjData.contact`` is now ``ncon`` rather than ``nconmax``, allowing it to be straightforwardly used as
an iterator without needing to check ``ncon``.
#. Fix a memory leak when a Python callable is installed as callback
(`#527 <https://github.com/deepmind/mujoco/issues/527>`_).
- Fix a memory leak when a Python callable is installed as callback
(`#527 <https://github.com/deepmind/mujoco/issues/527>`_).
Version 2.2.2 (September 7, 2022)
---------------------------------
doc/unity.rst
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@@ -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.2.2.2.dylib`` (it can be
``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.2.3.0.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-2.2.2/lib/libmujoco.so.2.2.2`` and rename it as ``libmujoco.so``.
``~/.mujoco/mujoco-2.3.0/lib/libmujoco.so.2.3.0`` and rename it as ``libmujoco.so``.
Windows
_______
include/mujoco/mujoco.h
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@@ -24,7 +24,7 @@ extern "C" {
#endif
// header version; should match the library version as returned by mj_version()
#define mjVERSION_HEADER 222
#define mjVERSION_HEADER 230
// needed to define size_t, fabs and log10
#include <stdlib.h>
python/mujoco/CMakeLists.txt
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@@ -75,13 +75,13 @@ if(NOT TARGET mujoco)
find_path(MUJOCO_FRAMEWORK mujoco.Framework HINTS ${MUJOCO_FRAMEWORK_DIR})
if(MUJOCO_FRAMEWORK)
message("MuJoCo framework is at ${MUJOCO_FRAMEWORK}/mujoco.framework")
set(MUJOCO_LIBRARY ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.2.2.2.dylib)
set(MUJOCO_LIBRARY ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.2.3.0.dylib)
target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK})
endif()
endif()
if(NOT MUJOCO_FRAMEWORK)
find_library(MUJOCO_LIBRARY mujoco mujoco.2.2.2 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED)
find_library(MUJOCO_LIBRARY mujoco mujoco.2.3.0 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED)
find_path(MUJOCO_INCLUDE mujoco/mujoco.h HINTS ${MUJOCO_INCLUDE_DIR} REQUIRED)
message("MuJoCo is at ${MUJOCO_LIBRARY}")
message("MuJoCo headers are at ${MUJOCO_INCLUDE}")
python/setup.py
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@@ -30,7 +30,7 @@ from setuptools import find_packages
from setuptools import setup
from setuptools.command import build_ext
__version__ = '2.2.2'
__version__ = '2.3.0'
MUJOCO_CMAKE = 'MUJOCO_CMAKE'
MUJOCO_CMAKE_ARGS = 'MUJOCO_CMAKE_ARGS'
sample/CMakeLists.txt
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@@ -24,7 +24,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON)
project(
mujoco_samples
VERSION 2.2.2
VERSION 2.3.0
DESCRIPTION "MuJoCo samples binaries"
HOMEPAGE_URL "https://mujoco.org"
)
simulate/CMakeLists.txt
+1 -1
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@@ -29,7 +29,7 @@ set(MUJOCO_DEP_VERSION_lodepng
project(
mujoco_simulate
VERSION 2.2.2
VERSION 2.3.0
DESCRIPTION "MuJoCo simulate binaries"
HOMEPAGE_URL "https://mujoco.org"
)
src/engine/engine_support.c
+2 -2
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@@ -35,8 +35,8 @@
#endif
#endif
#define mjVERSION 222
#define mjVERSIONSTRING "2.2.2"
#define mjVERSION 230
#define mjVERSIONSTRING "2.3.0"
// names of disable flags
const char* mjDISABLESTRING[mjNDISABLE] = {
test/engine/engine_support_test.cc
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@@ -155,7 +155,7 @@ TEST_F(JacobianTest, SubtreeJacNoInternalAcc) {
using VersionTest = MujocoTest;
const char *const kExpectedVersionString = "2.2.2";
const char *const kExpectedVersionString = "2.3.0";
TEST_F(VersionTest, MjVersion) {
EXPECT_EQ(mj_version(), mjVERSION_HEADER);
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) {
File.Copy(
"/Applications/MuJoCo.app/Contents/Frameworks" +
"/mujoco.framework/Versions/Current/libmujoco.2.2.2.dylib",
"/mujoco.framework/Versions/Current/libmujoco.2.3.0.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-2.2.2/lib/libmujoco.so.2.2.2",
"/.mujoco/mujoco-2.3.0/lib/libmujoco.so.2.3.0",
mujocoPath + "/libmujoco.so");
AssetDatabase.Refresh();
}
unity/Runtime/Bindings/MujocoBindings.cs
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@@ -100,7 +100,7 @@ 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 = 222;
public const int mjVERSION_HEADER = 230;
// ------------------------------------Enums------------------------------------
unity/package.json
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@@ -1,7 +1,7 @@
{
"name": "org.mujoco",
"displayName": "MuJoCo",
"version": "2.2.2",
"version": "2.3.0",
"description": "MuJoCo importer and runtime plug-in",
"dependencies": {},
"author": {