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Bump version number to 2.3.1.

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PiperOrigin-RevId: 493076656
Change-Id: I48c7a45b503c4a7363ea1455a4a3788262d007f7
This commit is contained in:
Kyle Bayes
2022-12-05 12:12:50 -08:00
committed by Copybara-Service
parent ef695bb8a8
commit 73fb61e3e2
13 changed files with 78 additions and 78 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 2.3.0
VERSION 2.3.1
DESCRIPTION "MuJoCo Physics Simulator"
HOMEPAGE_URL "https://mujoco.org"
)
doc/changelog.rst
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@@ -3,20 +3,20 @@ Changelog
=========
Upcoming version (not yet released)
Version 2.3.1 (December 5, 2022)
-----------------------------------
Python bindings
^^^^^^^^^^^^^^^
- The ``simulate`` GUI is now available through the ``mujoco`` Python package as ``mujoco.viewer``.
1. The ``simulate`` GUI is now available through the ``mujoco`` Python package as ``mujoco.viewer``.
See :ref:`documentation<PyViewer>` for details. (Contribution by `Levi Burner <https://github.com/aftersomemath>`_.)
- The ``Renderer`` class from the MuJoCo tutorial Colab is now available directly in the native Python bindings.
#. The ``Renderer`` class from the MuJoCo tutorial Colab is now available directly in the native Python bindings.
General
^^^^^^^
- The tendon :at:`springlength` attribute can now take two values. Given two non-decreasing values, `springlength`
3. The tendon :at:`springlength` attribute can now take two values. Given two non-decreasing values, `springlength`
specifies a `deadband <https://en.wikipedia.org/wiki/Deadband>`_ range for spring stiffness. If the tendon length is
between the two values, the force is 0. If length is outside this range, the force behaves like a regular spring, with
the spring resting length corresponding to the nearest :at:`springlength` value. This can be used to create tendons
@@ -32,26 +32,26 @@ General
:align: right
:height: 150px
- Removed the requirement that stateless actuators come before stateful actuators.
- Added :ref:`mju_fill`, :ref:`mju_symmetrize` and :ref:`mju_eye` utility functions.
- Added :at:`gravcomp` attribute to :ref:`body<body>`, implementing gravity compensation and bouyancy.
#. Removed the requirement that stateless actuators come before stateful actuators.
#. Added :ref:`mju_fill`, :ref:`mju_symmetrize` and :ref:`mju_eye` utility functions.
#. Added :at:`gravcomp` attribute to :ref:`body<body>`, implementing gravity compensation and bouyancy.
See `balloons.xml <https://github.com/deepmind/mujoco/tree/main/model/balloons/balloons.xml>`_ example model.
- Renamed the ``cable`` plugin library to ``elasticity``.
- Added :at:`actdim` attribute to :ref:`general actuators<actuator-general>`. Values greater than 1 are only allowed
#. Renamed the ``cable`` plugin library to ``elasticity``.
#. Added :at:`actdim` attribute to :ref:`general actuators<actuator-general>`. Values greater than 1 are only allowed
for dyntype :at-val:`user`, as native activation dynamics are all scalar. Added example test implementing 2nd-order
activation dynamics to
`engine_forward_test.cc <https://github.com/deepmind/mujoco/blob/main/test/engine/engine_forward_test.cc>`_.
- Improved particle :ref:`composite<body-composite>` type, which now permits a user-specified geometry and multiple
#. Improved particle :ref:`composite<body-composite>` type, which now permits a user-specified geometry and multiple
joints. See the two new examples:
`particle_free.xml <https://github.com/deepmind/mujoco/tree/main/model/composite/particle_free.xml>`_ and
`particle_free2d.xml <https://github.com/deepmind/mujoco/tree/main/model/composite/particle_free2d.xml>`_.
- Performance improvements for non-AVX configurations:
#. Performance improvements for non-AVX configurations:
- 14% faster ``mj_solveLD`` using `restrict <https://en.wikipedia.org/wiki/Restrict>`_. See `engine_core_smooth_benchmark_test
<https://github.com/deepmind/mujoco/tree/main/test/benchmark/engine_core_smooth_benchmark_test.cc>`_.
- 50% faster ``mju_dotSparse`` using manual loop unroll. See `engine_util_sparse_benchmark_test
<https://github.com/deepmind/mujoco/tree/main/test/benchmark/engine_util_sparse_benchmark_test.cc>`_.
- Added new :at:`solid` passive force plugin:
#. Added new :at:`solid` passive force plugin:
.. youtube:: AGcTGHbbze4
:align: right
@@ -64,17 +64,17 @@ General
- Only suitable for small strains (large displacements but small deformations). Tetrahedra may invert if subject to
large loads.
- Add API functions ``mj_loadPluginLibrary`` and ``mj_loadAllPluginLibraries``. The first function is identical to
#. Add API functions ``mj_loadPluginLibrary`` and ``mj_loadAllPluginLibraries``. The first function is identical to
``dlopen`` on a POSIX system, and to ``LoadLibraryA`` on Windows. The second function scans a specified directory for
all dynamic libraries file and loads each library found. Dynamic libraries opened by these functions are assumed to
register one or more MuJoCo plugins on load.
- Add an optional ``visualize`` callback to plugins, which is called during ``mjv_updateScene``. This callback allows
custom plugin visualizations. Enable stree visualization for the Cable plugin as an example.
- Sensors of type :ref:`user<sensor-user>` no longer require :at:`objtype`, :at:`objname` and :at:`needstage`. If
#. Add an optional ``visualize`` callback to plugins, which is called during ``mjv_updateScene``. This callback allows
custom plugin visualizations. Enable stress visualization for the Cable plugin as an example.
#. Sensors of type :ref:`user<sensor-user>` no longer require :at:`objtype`, :at:`objname` and :at:`needstage`. If
unspecified, the objtype is now :ref:`mjOBJ_UNKNOWN<mjtObj>`. ``user`` sensors :at:`datatype` default is now
:at-val:`"real"`, :at:`needstage` default is now :at-val:`"acc"`.
- Add support for capsules in URDF import.
- On macOS, issue an informative error message when run under `Rosetta 2 <https://support.apple.com/en-gb/HT211861>`_
#. Add support for capsules in URDF import.
#. On macOS, issue an informative error message when run under `Rosetta 2 <https://support.apple.com/en-gb/HT211861>`_
translation on an Apple Silicon machine. Pre-built MuJoCo binaries make use of
`AVX <https://en.wikipedia.org/wiki/Advanced_Vector_Extensions>`_ instructions on x86-64 machines, which is not
supported by Rosetta 2. (Before this version, users only get a cryptic "Illegal instruction" message.)
@@ -82,13 +82,13 @@ General
Bug fixes
^^^^^^^^^
- Fixed bug in ``mj_addFileVFS`` that was causing the file path to be ignored (introduced in 2.1.4).
17. Fixed bug in ``mj_addFileVFS`` that was causing the file path to be ignored (introduced in 2.1.4).
Simulate
^^^^^^^^
- Renamed the directory in which the ``simulate`` application searches for plugins from ``plugin`` to ``mujoco_plugin``.
- Mouse force perturbations are now applied at the selection point rather than the body center of mass.
18. Renamed the directory in which the ``simulate`` application searches for plugins from ``plugin`` to ``mujoco_plugin``.
#. Mouse force perturbations are now applied at the selection point rather than the body center of mass.
Version 2.3.0 (October 18, 2022)
doc/unity.rst
+2 -2
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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.2.3.0.dylib`` (it can be
``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.2.3.1.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-2.3.0/lib/libmujoco.so.2.3.0`` and rename it as ``libmujoco.so``.
``~/.mujoco/mujoco-2.3.1/lib/libmujoco.so.2.3.1`` 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 230
#define mjVERSION_HEADER 231
// needed to define size_t, fabs and log10
#include <stdlib.h>
python/mujoco/CMakeLists.txt
+2 -2
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@@ -81,13 +81,13 @@ 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.2.3.0.dylib)
set(MUJOCO_LIBRARY ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.2.3.1.dylib)
target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK})
endif()
endif()
if(NOT MUJOCO_FRAMEWORK)
find_library(MUJOCO_LIBRARY mujoco mujoco.2.3.0 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED)
find_library(MUJOCO_LIBRARY mujoco mujoco.2.3.1 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__ = '2.3.0'
__version__ = '2.3.1'
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 2.3.0
VERSION 2.3.1
DESCRIPTION "MuJoCo samples binaries"
HOMEPAGE_URL "https://mujoco.org"
)
simulate/CMakeLists.txt
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@@ -29,7 +29,7 @@ set(MUJOCO_DEP_VERSION_lodepng
project(
mujoco_simulate
VERSION 2.3.0
VERSION 2.3.1
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 230
#define mjVERSIONSTRING "2.3.0"
#define mjVERSION 231
#define mjVERSIONSTRING "2.3.1"
// 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 = "2.3.0";
const char *const kExpectedVersionString = "2.3.1";
TEST_F(VersionTest, MjVersion) {
EXPECT_EQ(mj_version(), mjVERSION_HEADER);
unity/Editor/Bindings/MujocoBinaryRetriever.cs
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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.2.3.0.dylib",
"/mujoco.framework/Versions/Current/libmujoco.2.3.1.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-2.3.0/lib/libmujoco.so.2.3.0",
"/.mujoco/mujoco-2.3.1/lib/libmujoco.so.2.3.1",
mujocoPath + "/libmujoco.so");
AssetDatabase.Refresh();
}
unity/Runtime/Bindings/MujocoBindings.cs
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@@ -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 = 230;
public const int mjVERSION_HEADER = 231;
// ------------------------------------Enums------------------------------------
unity/package.json
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@@ -1,7 +1,7 @@
{
"name": "org.mujoco",
"displayName": "MuJoCo",
"version": "2.3.0",
"version": "2.3.1",
"description": "MuJoCo importer and runtime plug-in",
"dependencies": {},
"author": {