From bbdda5dda5cd2c1adece86086029efa1f6a396af Mon Sep 17 00:00:00 2001 From: Michael Moss Date: Mon, 17 Aug 2026 05:01:00 -0700 Subject: [PATCH] Update MuJoCo version to 3.12.0 in preparation for breaking changes release. PiperOrigin-RevId: 965899864 Change-Id: I4fb90e357bed3d7f2f8d86e500aed53646c4b1ea --- CMakeLists.txt | 2 +- dist/mujoco.rc | 8 ++++---- dist/mujoco_studio.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 +- 17 files changed, 38 insertions(+), 38 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 80ef58bd..317301fa 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -29,7 +29,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON) project( mujoco - VERSION 3.11.1 + VERSION 3.12.0 DESCRIPTION "MuJoCo Physics Simulator" HOMEPAGE_URL "https://mujoco.org" ) diff --git a/dist/mujoco.rc b/dist/mujoco.rc index 4944a201..f3d730b9 100644 --- a/dist/mujoco.rc +++ b/dist/mujoco.rc @@ -1,6 +1,6 @@ 1 VERSIONINFO -FILEVERSION 3,11,1,0 -PRODUCTVERSION 3,11,1,0 +FILEVERSION 3,12,0,0 +PRODUCTVERSION 3,12,0,0 FILEOS 0x4 FILETYPE 0x1 { @@ -9,9 +9,9 @@ FILETYPE 0x1 BLOCK "040904b0" { VALUE "ProductName", "MuJoCo" - VALUE "ProductVersion", "3.11.1" + VALUE "ProductVersion", "3.12.0" VALUE "FileDescription", "MuJoCo" - VALUE "FileVersion", "3.11.1" + VALUE "FileVersion", "3.12.0" VALUE "InternalName", "mujoco.dll" VALUE "OriginalFilename", "mujoco.dll" VALUE "CompanyName", "Google DeepMind" diff --git a/dist/mujoco_studio.rc b/dist/mujoco_studio.rc index f128224f..d731692e 100644 --- a/dist/mujoco_studio.rc +++ b/dist/mujoco_studio.rc @@ -1,8 +1,8 @@ MUJOCO ICON "mujoco_studio.ico" 1 VERSIONINFO -FILEVERSION 3,11,1,0 -PRODUCTVERSION 3,11,1,0 +FILEVERSION 3,12,0,0 +PRODUCTVERSION 3,12,0,0 FILEOS 0x4 FILETYPE 0x1 { @@ -11,9 +11,9 @@ FILETYPE 0x1 BLOCK "040904b0" { VALUE "ProductName", "MuJoCo Studio" - VALUE "ProductVersion", "3.11.1" + VALUE "ProductVersion", "3.12.0" VALUE "FileDescription", "MuJoCo Studio" - VALUE "FileVersion", "3.11.1" + VALUE "FileVersion", "3.12.0" VALUE "InternalName", "mujoco_studio.exe" VALUE "OriginalFilename", "mujoco_studio.exe" VALUE "CompanyName", "Google DeepMind" diff --git a/dist/simulate.rc b/dist/simulate.rc index d15c9f3e..b25c48dc 100644 --- a/dist/simulate.rc +++ b/dist/simulate.rc @@ -1,8 +1,8 @@ MUJOCO ICON "mujoco.ico" 1 VERSIONINFO -FILEVERSION 3,11,1,0 -PRODUCTVERSION 3,11,1,0 +FILEVERSION 3,12,0,0 +PRODUCTVERSION 3,12,0,0 FILEOS 0x4 FILETYPE 0x1 { @@ -11,9 +11,9 @@ FILETYPE 0x1 BLOCK "040904b0" { VALUE "ProductName", "MuJoCo" - VALUE "ProductVersion", "3.11.1" + VALUE "ProductVersion", "3.12.0" VALUE "FileDescription", "MuJoCo" - VALUE "FileVersion", "3.11.1" + VALUE "FileVersion", "3.12.0" 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 5f2888f0..7aef601a 100644 --- a/doc/APIreference/APIglobals.rst +++ b/doc/APIreference/APIglobals.rst @@ -395,7 +395,7 @@ Defined in `mujoco.h diff --git a/mjx/pyproject.toml b/mjx/pyproject.toml index 154c3b5b..86d502e4 100644 --- a/mjx/pyproject.toml +++ b/mjx/pyproject.toml @@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta" [project] name="mujoco-mjx" -version = "3.11.1" +version = "3.12.0" authors = [ {name = "Google DeepMind", email = "mujoco@deepmind.com"}, ] @@ -30,7 +30,7 @@ dependencies = [ "etils[epath]", "jax", "jaxlib", - "mujoco>=3.11.1.dev0", + "mujoco>=3.12.0.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/3.11.1" +Documentation = "https://mujoco.readthedocs.io/en/3.12.0" Repository = "https://github.com/google-deepmind/mujoco/tree/main/mjx" -Changelog = "https://mujoco.readthedocs.io/en/3.11.1/changelog.html" +Changelog = "https://mujoco.readthedocs.io/en/3.12.0/changelog.html" [tool.isort] force_single_line = true diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt index b51163d6..e8761114 100644 --- a/python/mujoco/CMakeLists.txt +++ b/python/mujoco/CMakeLists.txt @@ -99,7 +99,7 @@ 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.3.11.1.dylib + ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.12.0.dylib ) target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK}) set(MUJOCO_INCLUDE "${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/Headers") @@ -108,7 +108,7 @@ if(NOT TARGET mujoco) if(NOT MUJOCO_FRAMEWORK) find_library( - MUJOCO_LIBRARY mujoco mujoco.3.11.1 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED + MUJOCO_LIBRARY mujoco mujoco.3.12.0 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 50185076..1f97b62d 100644 --- a/python/mujoco/mjpython/Info.plist +++ b/python/mujoco/mjpython/Info.plist @@ -7,13 +7,13 @@ CFBundleIdentifier org.mujoco.mjpython CFBundleVersion - 3.11.1 + 3.12.0 CFBundleGetInfoString - 3.11.1 + 3.12.0 CFBundleLongVersionString - 3.11.1 + 3.12.0 CFBundleShortVersionString - 3.11.1 + 3.12.0 CFBundleExecutable mjpython CFBundleIconFile diff --git a/python/pyproject.toml b/python/pyproject.toml index d1f2d1a1..2a7505f6 100644 --- a/python/pyproject.toml +++ b/python/pyproject.toml @@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta" [project] name = "mujoco" -version = "3.11.1" +version = "3.12.0" 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/3.11.1" +Documentation = "https://mujoco.readthedocs.io/en/3.12.0" Repository = "https://github.com/google-deepmind/mujoco" -Changelog = "https://mujoco.readthedocs.io/en/3.11.1/changelog.html" +Changelog = "https://mujoco.readthedocs.io/en/3.12.0/changelog.html" [tool.setuptools] include-package-data = false diff --git a/sample/CMakeLists.txt b/sample/CMakeLists.txt index dda4f9b7..60025591 100644 --- a/sample/CMakeLists.txt +++ b/sample/CMakeLists.txt @@ -24,7 +24,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON) project( mujoco_samples - VERSION 3.11.1 + VERSION 3.12.0 DESCRIPTION "MuJoCo samples binaries" HOMEPAGE_URL "https://mujoco.org" ) diff --git a/simulate/CMakeLists.txt b/simulate/CMakeLists.txt index faf3f039..603c3783 100644 --- a/simulate/CMakeLists.txt +++ b/simulate/CMakeLists.txt @@ -29,7 +29,7 @@ set(MUJOCO_DEP_VERSION_lodepng project( mujoco_simulate - VERSION 3.11.1 + VERSION 3.12.0 DESCRIPTION "MuJoCo simulate binaries" HOMEPAGE_URL "https://mujoco.org" ) diff --git a/src/engine/engine_support.c b/src/engine/engine_support.c index a58934f2..e4c6ef35 100644 --- a/src/engine/engine_support.c +++ b/src/engine/engine_support.c @@ -43,8 +43,8 @@ //-------------------------- Constants ------------------------------------------------------------- - #define mjVERSION 3011001 -#define mjVERSIONSTRING "3.11.1" + #define mjVERSION 3012000 +#define mjVERSIONSTRING "3.12.0" // names of disable flags const char* mjDISABLESTRING[mjNDISABLE] = { diff --git a/unity/Editor/Bindings/MujocoBinaryRetriever.cs b/unity/Editor/Bindings/MujocoBinaryRetriever.cs index f0edc231..6ce89a5c 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.3.11.1.dylib", + "/mujoco.framework/Versions/Current/libmujoco.3.12.0.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-3.11.1/lib/libmujoco.so.3.11.1", + "/.mujoco/mujoco-3.12.0/lib/libmujoco.so.3.12.0", mujocoPath + "/libmujoco.so"); AssetDatabase.Refresh(); } diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs index 419e4723..31bd6bb6 100644 --- a/unity/Runtime/Bindings/MjBindings.cs +++ b/unity/Runtime/Bindings/MjBindings.cs @@ -118,7 +118,7 @@ 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 = 3011001; +public const int mjVERSION_HEADER = 3012000; // ------------------------------------Enums------------------------------------ diff --git a/unity/package.json b/unity/package.json index d9eff3cb..b50073be 100644 --- a/unity/package.json +++ b/unity/package.json @@ -1,7 +1,7 @@ { "name": "org.mujoco", "displayName": "MuJoCo", - "version": "3.11.1", + "version": "3.12.0", "description": "MuJoCo importer and runtime plug-in", "dependencies": {}, "author": {