From 79aeceeaa3a6ce8f10533a85a9e8e42e0536d69d Mon Sep 17 00:00:00 2001 From: Michael Moss Date: Wed, 27 May 2026 03:49:54 -0700 Subject: [PATCH] Update MuJoCo version to 3.10.0 following the 3.9.0 release PiperOrigin-RevId: 922027849 Change-Id: I52dd7fb5eeb962c2670ab5dbbe7ce192ac9332c5 --- 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 e01c6621..b50248f8 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -29,7 +29,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON) project( mujoco - VERSION 3.9.0 + VERSION 3.10.0 DESCRIPTION "MuJoCo Physics Simulator" HOMEPAGE_URL "https://mujoco.org" ) diff --git a/dist/mujoco.rc b/dist/mujoco.rc index b9f1eff7..f8ebe6a0 100644 --- a/dist/mujoco.rc +++ b/dist/mujoco.rc @@ -1,6 +1,6 @@ 1 VERSIONINFO -FILEVERSION 3,9,0,0 -PRODUCTVERSION 3,9,0,0 +FILEVERSION 3,10,0,0 +PRODUCTVERSION 3,10,0,0 FILEOS 0x4 FILETYPE 0x1 { @@ -9,9 +9,9 @@ FILETYPE 0x1 BLOCK "040904b0" { VALUE "ProductName", "MuJoCo" - VALUE "ProductVersion", "3.9.0" + VALUE "ProductVersion", "3.10.0" VALUE "FileDescription", "MuJoCo" - VALUE "FileVersion", "3.9.0" + VALUE "FileVersion", "3.10.0" VALUE "InternalName", "mujoco.dll" VALUE "OriginalFilename", "mujoco.dll" VALUE "CompanyName", "Google DeepMind" diff --git a/dist/simulate.rc b/dist/simulate.rc index dd3f0778..94161040 100644 --- a/dist/simulate.rc +++ b/dist/simulate.rc @@ -1,8 +1,8 @@ MUJOCO ICON "mujoco.ico" 1 VERSIONINFO -FILEVERSION 3,9,0,0 -PRODUCTVERSION 3,9,0,0 +FILEVERSION 3,10,0,0 +PRODUCTVERSION 3,10,0,0 FILEOS 0x4 FILETYPE 0x1 { @@ -11,9 +11,9 @@ FILETYPE 0x1 BLOCK "040904b0" { VALUE "ProductName", "MuJoCo" - VALUE "ProductVersion", "3.9.0" + VALUE "ProductVersion", "3.10.0" VALUE "FileDescription", "MuJoCo" - VALUE "FileVersion", "3.9.0" + VALUE "FileVersion", "3.10.0" 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 d823553a..80c758af 100644 --- a/doc/APIreference/APIglobals.rst +++ b/doc/APIreference/APIglobals.rst @@ -388,7 +388,7 @@ Defined in `mujoco.h diff --git a/mjx/pyproject.toml b/mjx/pyproject.toml index aa5f1573..43609582 100644 --- a/mjx/pyproject.toml +++ b/mjx/pyproject.toml @@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta" [project] name="mujoco-mjx" -version = "3.9.0" +version = "3.10.0" authors = [ {name = "Google DeepMind", email = "mujoco@deepmind.com"}, ] @@ -30,7 +30,7 @@ dependencies = [ "etils[epath]", "jax", "jaxlib", - "mujoco>=3.9.0.dev0", + "mujoco>=3.10.0.dev0", "scipy", "trimesh", ] @@ -50,9 +50,9 @@ mjx-viewer = "mujoco.mjx.viewer:main" [project.urls] Homepage = "https://github.com/google-deepmind/mujoco/tree/main/mjx" -Documentation = "https://mujoco.readthedocs.io/en/3.9.0" +Documentation = "https://mujoco.readthedocs.io/en/3.10.0" Repository = "https://github.com/google-deepmind/mujoco/tree/main/mjx" -Changelog = "https://mujoco.readthedocs.io/en/3.9.0/changelog.html" +Changelog = "https://mujoco.readthedocs.io/en/3.10.0/changelog.html" [tool.isort] force_single_line = true diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt index 8810b3b1..7c7b09ba 100644 --- a/python/mujoco/CMakeLists.txt +++ b/python/mujoco/CMakeLists.txt @@ -86,7 +86,7 @@ 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.3.9.0.dylib + ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.10.0.dylib ) target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK}) endif() @@ -94,7 +94,7 @@ if(NOT TARGET mujoco) if(NOT MUJOCO_FRAMEWORK) find_library( - MUJOCO_LIBRARY mujoco mujoco.3.9.0 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED + MUJOCO_LIBRARY mujoco mujoco.3.10.0 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 3bb2afb2..751d3e42 100644 --- a/python/mujoco/mjpython/Info.plist +++ b/python/mujoco/mjpython/Info.plist @@ -7,13 +7,13 @@ CFBundleIdentifier org.mujoco.mjpython CFBundleVersion - 3.9.0 + 3.10.0 CFBundleGetInfoString - 3.9.0 + 3.10.0 CFBundleLongVersionString - 3.9.0 + 3.10.0 CFBundleShortVersionString - 3.9.0 + 3.10.0 CFBundleExecutable mjpython CFBundleIconFile diff --git a/python/pyproject.toml b/python/pyproject.toml index 1e7e3632..e66c406f 100644 --- a/python/pyproject.toml +++ b/python/pyproject.toml @@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta" [project] name = "mujoco" -version = "3.9.0" +version = "3.10.0" authors = [ {name = "Google DeepMind", email = "mujoco@deepmind.com"}, ] @@ -35,9 +35,9 @@ dynamic = ["readme", "scripts"] [project.urls] Homepage = "https://github.com/google-deepmind/mujoco" -Documentation = "https://mujoco.readthedocs.io/en/3.9.0" +Documentation = "https://mujoco.readthedocs.io/en/3.10.0" Repository = "https://github.com/google-deepmind/mujoco" -Changelog = "https://mujoco.readthedocs.io/en/3.9.0/changelog.html" +Changelog = "https://mujoco.readthedocs.io/en/3.10.0/changelog.html" [tool.setuptools] include-package-data = false diff --git a/sample/CMakeLists.txt b/sample/CMakeLists.txt index 88e9cb87..ee30c449 100644 --- a/sample/CMakeLists.txt +++ b/sample/CMakeLists.txt @@ -24,7 +24,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON) project( mujoco_samples - VERSION 3.9.0 + VERSION 3.10.0 DESCRIPTION "MuJoCo samples binaries" HOMEPAGE_URL "https://mujoco.org" ) diff --git a/simulate/CMakeLists.txt b/simulate/CMakeLists.txt index f12701bb..70f32e41 100644 --- a/simulate/CMakeLists.txt +++ b/simulate/CMakeLists.txt @@ -29,7 +29,7 @@ set(MUJOCO_DEP_VERSION_lodepng project( mujoco_simulate - VERSION 3.9.0 + VERSION 3.10.0 DESCRIPTION "MuJoCo simulate binaries" HOMEPAGE_URL "https://mujoco.org" ) diff --git a/src/engine/engine_support.c b/src/engine/engine_support.c index b062ec94..73e62190 100644 --- a/src/engine/engine_support.c +++ b/src/engine/engine_support.c @@ -43,8 +43,8 @@ //-------------------------- Constants ------------------------------------------------------------- - #define mjVERSION 3009000 -#define mjVERSIONSTRING "3.9.0" + #define mjVERSION 3010000 +#define mjVERSIONSTRING "3.10.0" // names of disable flags const char* mjDISABLESTRING[mjNDISABLE] = { diff --git a/unity/Editor/Bindings/MujocoBinaryRetriever.cs b/unity/Editor/Bindings/MujocoBinaryRetriever.cs index 1ab0f725..1b4da168 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.3.9.0.dylib", + "/mujoco.framework/Versions/Current/libmujoco.3.10.0.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-3.9.0/lib/libmujoco.so.3.9.0", + "/.mujoco/mujoco-3.10.0/lib/libmujoco.so.3.10.0", mujocoPath + "/libmujoco.so"); AssetDatabase.Refresh(); } diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs index 667d7d33..37aa73f1 100644 --- a/unity/Runtime/Bindings/MjBindings.cs +++ b/unity/Runtime/Bindings/MjBindings.cs @@ -116,7 +116,7 @@ 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 = 3009000; +public const int mjVERSION_HEADER = 3010000; // ------------------------------------Enums------------------------------------ diff --git a/unity/package.json b/unity/package.json index d533ede4..9a4cb940 100644 --- a/unity/package.json +++ b/unity/package.json @@ -1,7 +1,7 @@ { "name": "org.mujoco", "displayName": "MuJoCo", - "version": "3.9.0", + "version": "3.10.0", "description": "MuJoCo importer and runtime plug-in", "dependencies": {}, "author": {