Bump version number to 2.3.0.

PiperOrigin-RevId: 481823754
Change-Id: Ie8c2c65b11178952355830ef019fe2efdf774189

CMakeLists.txt

@@ -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

@@ -1,6 +1,6 @@
 1 VERSIONINFO
-FILEVERSION 2,2,2,0
+FILEVERSION 2,3,0,0
-PRODUCTVERSION 2,2,2,0
+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

@@ -1,8 +1,8 @@
 MUJOCO ICON "mujoco.ico"
 
 1 VERSIONINFO
-FILEVERSION 2,2,2,0
+FILEVERSION 2,3,0,0
-PRODUCTVERSION 2,2,2,0
+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

@@ -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
+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.
+   ``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,
+   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
+   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``
+   ``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.
+   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.
+   See the :ref:`Memory allocation <CSize>` section for details.
 
-  .. youtube:: RHnXD6uO3Mg
+   .. youtube:: RHnXD6uO3Mg
-     :align: right
+      :align: right
-     :height: 150px
+      :height: 150px
 
-- Added colab notebook tutorial showing how to balance the humanoid on one leg with a Linear Quadratic Regulator. The
+#. 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.
+   notebook uses MuJoCo's native Python bindings, and includes a draft ``Renderer`` class, for easy rendering in Python.
-  |br| Try it yourself:  |LQRopenincolab|
+   |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).
+#. Added :ref:`mju_boxQP` and allocation function :ref:`mju_boxQPmalloc` for solving the box-constrained
-  * Increased maximum hip flexion angle.
+   Quadratic Program:
-  * 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:
 
    .. 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>`_,
+   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.
+   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
+#. 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`.
+   sides. The function returns :math:`x^TMy`.
 
-- Added new plugin API. Plugins allow developers to extend MuJoCo's capability without modifying core engine code.
+#. 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
+   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
+   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
+   multiple plugins from different sources, allowing MuJoCo extensions to be introduced in a modular fashion, rather
-  as global overrides. Note the new mechanism is currently undocumented except in code, as we test it internally.
+   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.
+   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
+#. 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`.
+   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.
+   - 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 `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 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 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.
+   - 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`.
+   - 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`.
+   - 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
+   - New `cable.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/cable.xml>`_ example showing the
-    showing the formation of plectoneme.
+     formation of plectoneme.
-  * New `coil.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/coil.xml>`_  example
+   - New `coil.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/coil.xml>`_  example showing a curved
-    showing a curved equilibrium configuration.
+     equilibrium configuration.
-  * New `belt.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/belt.xml>`_  example
+   - New `belt.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/belt.xml>`_  example showing interaction
-    showing interaction between twist and anisotropy.
+     between twist and anisotropy.
-  * Added test using cantilever exact solution.
+   - 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
+#. The length of ``MjData.contact`` is now ``ncon`` rather than ``nconmax``, allowing it to be straightforwardly used as
-  `named accessor <https://mujoco.readthedocs.io/en/latest/python.html#named-access>`_ objects. These provide more
+   an iterator without needing to check ``ncon``.
-  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
+#. Fix a memory leak when a Python callable is installed as callback
-  an iterator without needing to check ``ncon``.
+   (`#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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -35,8 +35,8 @@
   #endif
 #endif
 
-#define mjVERSION 222
+#define mjVERSION 230
-#define mjVERSIONSTRING "2.2.2"
+#define mjVERSIONSTRING "2.3.0"
 
 // names of disable flags
 const char* mjDISABLESTRING[mjNDISABLE] = {

test/engine/engine_support_test.cc

@@ -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

@@ -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

@@ -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

@@ -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": {