Bump version number to 2.2.2.

PiperOrigin-RevId: 472513958
Change-Id: I42f321c6681fdd42c5f80368f612534aa885af74

CMakeLists.txt

@@ -28,7 +28,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON)
 
 project(
   mujoco
-  VERSION 2.2.1
+  VERSION 2.2.2
   DESCRIPTION "MuJoCo Physics Simulator"
   HOMEPAGE_URL "https://mujoco.org"
 )

doc/changelog.rst

@@ -2,82 +2,83 @@
 Changelog
 =========
 
-Upcoming version (not yet released)
+
------------------------------------
+Version 2.2.2 (September 7, 2022)
+---------------------------------
 
 General
 ^^^^^^^
 
-..  youtube:: BcHZ5BFeTmU
+.. youtube:: BcHZ5BFeTmU
-    :align: right
+   :align: right
-    :height: 150px
+   :height: 150px
 
-- Added :ref:`adhesion actuators<adhesion>` mimicking vacuum grippers and adhesive biomechanical appendages.
+1. Added :ref:`adhesion actuators<adhesion>` mimicking vacuum grippers and adhesive biomechanical appendages.
-- Added related `example model <https://github.com/deepmind/mujoco/tree/main/model/adhesion>`_ and video:
+#. Added related `example model <https://github.com/deepmind/mujoco/tree/main/model/adhesion>`_ and video:
-- Added :ref:`mj_jacSubtreeCom` for computing the translational Jacobian of the center-of-mass of a subtree.
+#. Added :ref:`mj_jacSubtreeCom` for computing the translational Jacobian of the center-of-mass of a subtree.
-- Added :at:`torquescale` and :at:`anchor` attributes to :el:`weld` constraints. :at:`torquescale` sets the
+#. Added :at:`torquescale` and :at:`anchor` attributes to :el:`weld` constraints. :at:`torquescale` sets the
-  torque-to-force ratio exerted by the constraint, :at:`anchor` sets the point at which the weld wrench is
+   torque-to-force ratio exerted by the constraint, :at:`anchor` sets the point at which the weld wrench is
-  applied. See :ref:`weld <equality-weld>` for more details.
+   applied. See :ref:`weld <equality-weld>` for more details.
-- Increased ``mjNEQDATA``, the row length of equality constraint parameters in ``mjModel.eq_data``, from 7 to 11.
+#. Increased ``mjNEQDATA``, the row length of equality constraint parameters in ``mjModel.eq_data``, from 7 to 11.
-- Added visualisation of anchor points for both :el:`connect` and :el:`weld` constraints (activated by the 'N' key in
+#. Added visualisation of anchor points for both :el:`connect` and :el:`weld` constraints (activated by the 'N' key in
-  ``simulate``).
+   ``simulate``).
-- Added `weld.xml <https://github.com/deepmind/mujoco/tree/main/test/engine/testdata/weld.xml>`_ showing different
+#. Added `weld.xml <https://github.com/deepmind/mujoco/tree/main/test/engine/testdata/weld.xml>`_ showing different
-  uses of new weld attributes.
+   uses of new weld attributes.
 
-  ..  youtube:: s-0JHanqV1A
+   .. youtube:: s-0JHanqV1A
       :align: right
       :height: 150px
 
-- Cartesian 6D end-effector control is now possible by adding a reference site to actuators with :at:`site`
+#. Cartesian 6D end-effector control is now possible by adding a reference site to actuators with :at:`site`
-  transmission. See description of new :at:`refsite` attribute in the :ref:`actuator<general>` documentation and
+   transmission. See description of new :at:`refsite` attribute in the :ref:`actuator<general>` documentation and
-  `refsite.xml <https://github.com/deepmind/mujoco/tree/main/test/engine/testdata/refsite.xml>`_ example model.
+   `refsite.xml <https://github.com/deepmind/mujoco/tree/main/test/engine/testdata/refsite.xml>`_ example model.
+#. Added :at:`autolimits` compiler option. If ``true``, joint and tendon :at:`limited` attributes and actuator
+   :at:`ctrllimited`, :at:`forcelimited` and :at:`actlimited` attributes will automatically be set to ``true`` if the
+   corresponding range *is defined* and ``false`` otherwise.
 
-- Added :at:`autolimits` compiler option. If ``true``, joint and tendon :at:`limited` attributes and actuator
+   If ``autolimits="false"`` (the default) models where a :at:`range` attribute is specified without the :at:`limited`
-  :at:`ctrllimited`, :at:`forcelimited` and :at:`actlimited` attributes will automatically be set to ``true`` if the
+   attribute will fail to compile. A future release will change the default of :at:`autolimits` to ``true``, and this
-  corresponding range *is defined* and ``false`` otherwise.
+   compilation error allows users to catch this future change of behavior.
 
-  If ``autolimits="false"`` (the default) models where a :at:`range` attribute is specified without the :at:`limited`
+   .. attention::
-  attribute will fail to compile. A future release will change the default of :at:`autolimits` to ``true``, and this
+     This is a breaking change. In models where a range was defined but :at:`limited` was unspecified, explicitly set
-  compilation error allows users to catch this future change of behavior.
+     limited to ``false`` or remove the range to maintain the current behavior of your model.
 
-  .. attention::
+#. Added moment of inertia computation for all well-formed meshes. This option is activated by setting the compiler
-    This is a breaking change. In models where a range was defined but :at:`limited` was unspecified, explicitly set
+   flag :at:`exactmeshinertia` to ``true`` (defaults to ``false``). This default may change in the future.
-    limited to ``false`` or remove the range to maintain the current behavior of your model.
+#. Added parameter :at:`shellinertia` to :at:`geom`, for locating the inferred inertia on the boundary (shell).
+   Currently only meshes are supported.
+#. For meshes from which volumetric inertia is inferred, raise error if the orientation of mesh faces is not consistent.
+   If this occurs, fix the mesh in e.g., MeshLab or Blender.
 
-- Added moment of inertia computation for all well-formed meshes. This option is activated by setting the compiler
+   .. youtube:: I2q7D0Vda-A
-  flag :at:`exactmeshinertia` to ``true`` (defaults to ``false``). This default may change in the future.
-- Added parameter :at:`shellinertia` to :at:`geom`, for locating the inferred inertia on the boundary (shell).
-  Currently only meshes are supported.
-- For meshes from which volumetric inertia is inferred, raise error if the orientation of mesh faces is not consistent.
-  If this occurs, fix the mesh in e.g., MeshLab or Blender.
-
-  ..  youtube:: I2q7D0Vda-A
       :align: right
       :height: 150px
 
-- Added catenary visualisation for hanging tendons. The model seen in the video can be found
+#. Added catenary visualisation for hanging tendons. The model seen in the video can be found
-  `here <https://github.com/deepmind/mujoco/tree/main/test/engine/testdata/catenary.xml>`_.
+   `here <https://github.com/deepmind/mujoco/tree/main/test/engine/testdata/catenary.xml>`_.
-- Added ``azimuth`` and ``elevation`` attributes to :ref:`visual/global<global>`, defining the initial orientation of
+#. Added ``azimuth`` and ``elevation`` attributes to :ref:`visual/global<global>`, defining the initial orientation of
-  the free camera at model load time.
+   the free camera at model load time.
-- Added ``mjv_defaultFreeCamera`` which sets the default free camera, respecting the above attributes.
+#. Added ``mjv_defaultFreeCamera`` which sets the default free camera, respecting the above attributes.
-- ``simulate`` now supports taking a screenshot via a button in the File section or via ``Ctrl-P``.
+#. ``simulate`` now supports taking a screenshot via a button in the File section or via ``Ctrl-P``.
-- Improvements to time synchronisation in `simulate`, in particular report actual real-time factor if different from
+#. Improvements to time synchronisation in `simulate`, in particular report actual real-time factor if different from
-  requested factor (if e.g., the timestep is so small that simulation cannot keep up with real-time).
+   requested factor (if e.g., the timestep is so small that simulation cannot keep up with real-time).
-- Added a disable flag for sensors.
+#. Added a disable flag for sensors.
-- :ref:`mju_mulQuat` and :ref:`mju_mulQuatAxis` support in place computation. For example
+#. :ref:`mju_mulQuat` and :ref:`mju_mulQuatAxis` support in place computation. For example
-  |br| ``mju_mulQuat(a, a, b);`` sets the quaternion ``a`` equal to the product of ``a`` and ``b``.
+   |br| ``mju_mulQuat(a, a, b);`` sets the quaternion ``a`` equal to the product of ``a`` and ``b``.
-- Added sensor matrices to ``mjd_transitionFD`` (note this is an API change).
+#. Added sensor matrices to ``mjd_transitionFD`` (note this is an API change).
 
 Deleted/deprecated features
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-- Removed ``distance`` constraints.
+21. Removed ``distance`` constraints.
 
 Bug fixes
 ^^^^^^^^^
 
-- Fixed rendering of some transparent geoms in reflection.
+22. Fixed rendering of some transparent geoms in reflection.
-- Fixed ``intvelocity`` defaults parsing.
+#.  Fixed ``intvelocity`` defaults parsing.
+
 
 Version 2.2.1 (July 18, 2022)
 -----------------------------

doc/unity.rst

@@ -29,14 +29,14 @@ _____
 
 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.2.2.1.dylib`` (it can be
+``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.2.2.2.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-2.2.1/lib/libmujoco.so.2.2.1`` and rename it as ``libmujoco.so``.
+``~/.mujoco/mujoco-2.2.2/lib/libmujoco.so.2.2.2`` 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 221
+#define mjVERSION_HEADER 222
 
 // 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.2.2.1.dylib)
+      set(MUJOCO_LIBRARY ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.2.2.2.dylib)
       target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK})
     endif()
   endif()
 
   if(NOT MUJOCO_FRAMEWORK)
-    find_library(MUJOCO_LIBRARY mujoco mujoco.2.2.1 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED)
+    find_library(MUJOCO_LIBRARY mujoco mujoco.2.2.2 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__ = '2.2.1'
+__version__ = '2.2.2'
 
 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 2.2.1
+  VERSION 2.2.2
   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 2.2.1
+  VERSION 2.2.2
   DESCRIPTION "MuJoCo simulate binaries"
   HOMEPAGE_URL "https://mujoco.org"
 )

src/engine/engine_support.c

@@ -35,8 +35,8 @@
   #endif
 #endif
 
-#define mjVERSION 221
+#define mjVERSION 222
-#define mjVERSIONSTRING "2.2.1"
+#define mjVERSIONSTRING "2.2.2"
 
 // names of disable flags
 const char* mjDISABLESTRING[mjNDISABLE] = {

test/engine/engine_support_test.cc

@@ -141,9 +141,9 @@ TEST_F(JacobianTest, SubtreeJacNoInternalAcc) {
   // the CoM should accelerate the whole mechanism without any internal motion
   int body_dofadr = model->body_dofadr[bodyid];
   mjtNum invtreemass = 1.0/model->body_subtreemass[bodyid];
-  for (int r=0; r<3; r++) {
+  for (int r = 0; r < 3; r++) {
-    for (int c=0; c<nv; c++) {
+    for (int c = 0; c < nv; c++) {
-      mjtNum expected = c-body_dofadr==r ? invtreemass : 0.0;
+      mjtNum expected = c - body_dofadr == r ? invtreemass : 0.0;
       EXPECT_THAT(jac_subtree[nv*r+c], DoubleNear(expected, max_abs_err));
     }
   }
@@ -155,7 +155,7 @@ TEST_F(JacobianTest, SubtreeJacNoInternalAcc) {
 
 using VersionTest = MujocoTest;
 
-const char *const kExpectedVersionString = "2.2.1";
+const char *const kExpectedVersionString = "2.2.2";
 
 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.2.2.1.dylib",
+                "/mujoco.framework/Versions/Current/libmujoco.2.2.2.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-2.2.1/lib/libmujoco.so.2.2.1",
+                "/.mujoco/mujoco-2.2.2/lib/libmujoco.so.2.2.2",
                 mujocoPath + "/libmujoco.so");
             AssetDatabase.Refresh();
           }

unity/Runtime/Bindings/MujocoBindings.cs

@@ -98,7 +98,7 @@ 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 = 221;
+public const int mjVERSION_HEADER = 222;
 
 
 // ------------------------------------Enums------------------------------------

unity/package.json

@@ -1,7 +1,7 @@
 {
   "name": "org.mujoco",
   "displayName": "MuJoCo",
-  "version": "2.2.1",
+  "version": "2.2.2",
   "description": "MuJoCo importer and runtime plug-in",
   "dependencies": {},
   "author": {