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Release version 2.3.7.

Browse Source 
PiperOrigin-RevId: 549565890
Change-Id: I56db138998e43637bdde86de6490a567f0f255ec
This commit is contained in:
Saran Tunyasuvunakool
2023-07-20 02:13:05 -07:00
committed by Copybara-Service
parent 06b70832ce
commit c9246e1f50
19 changed files with 89 additions and 88 deletions
Download Patch File Download Diff File Expand all files Collapse all files
CMakeLists.txt
+1 -1
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@@ -28,7 +28,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON)
project(
mujoco
VERSION 2.3.6
VERSION 2.3.7
DESCRIPTION "MuJoCo Physics Simulator"
HOMEPAGE_URL "https://mujoco.org"
)
cmake/MujocoDependencies.cmake
+1 -1
View File
@@ -35,7 +35,7 @@ set(MUJOCO_DEP_VERSION_qhull
CACHE STRING "Version of `qhull` to be fetched."
)
set(MUJOCO_DEP_VERSION_Eigen3
969c31eefcdfaab11da763bea3f7502086673ab0
211c5dfc6741a5570ad007983c113ef4d144f9f3
CACHE STRING "Version of `Eigen3` to be fetched."
)
dist/mujoco.rc
Vendored
+4 -4
View File
@@ -1,6 +1,6 @@
1 VERSIONINFO
FILEVERSION 2,3,6,0
PRODUCTVERSION 2,3,6,0
FILEVERSION 2,3,7,0
PRODUCTVERSION 2,3,7,0
FILEOS 0x4
FILETYPE 0x1
{
@@ -9,9 +9,9 @@ FILETYPE 0x1
BLOCK "040904b0"
{
VALUE "ProductName", "MuJoCo"
VALUE "ProductVersion", "2.3.6"
VALUE "ProductVersion", "2.3.7"
VALUE "FileDescription", "MuJoCo"
VALUE "FileVersion", "2.3.6"
VALUE "FileVersion", "2.3.7"
VALUE "InternalName", "mujoco.dll"
VALUE "OriginalFilename", "mujoco.dll"
VALUE "CompanyName", "Google DeepMind"
dist/simulate.rc
Vendored
+4 -4
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@@ -1,8 +1,8 @@
MUJOCO ICON "mujoco.ico"
1 VERSIONINFO
FILEVERSION 2,3,6,0
PRODUCTVERSION 2,3,6,0
FILEVERSION 2,3,7,0
PRODUCTVERSION 2,3,7,0
FILEOS 0x4
FILETYPE 0x1
{
@@ -11,9 +11,9 @@ FILETYPE 0x1
BLOCK "040904b0"
{
VALUE "ProductName", "MuJoCo"
VALUE "ProductVersion", "2.3.6"
VALUE "ProductVersion", "2.3.7"
VALUE "FileDescription", "MuJoCo"
VALUE "FileVersion", "2.3.6"
VALUE "FileVersion", "2.3.7"
VALUE "InternalName", "simulate.exe"
VALUE "OriginalFilename", "simulate.exe"
VALUE "CompanyName", "Google DeepMind"
doc/APIreference/APIglobals.rst
+1 -1
View File
@@ -512,7 +512,7 @@ table below. Their names are in the format ``mjKEY_XXX``. They correspond to GLF
- Maximum number of UI rectangles.
Defined in `mjui.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
* - ``mjVERSION_HEADER``
- 236
- 237
- The version of the MuJoCo headers; changes with every release. This is an integer equal to 100x the software
version, so 210 corresponds to version 2.1. Defined in mujoco.h. The API function :ref:`mj_version` returns a
number with the same meaning but for the compiled library.
doc/changelog.rst
+26 -25
View File
@@ -2,43 +2,44 @@
Changelog
=========
Upcoming version (not yet released)
-----------------------------------
Version 2.3.7 (July 20, 2023)
-----------------------------
General
^^^^^^^
- Added primitive collider for sphere-cylinder contacts, previously this pair used the generic convex-convex collider.
- Added :ref:`joint-actuatorforcerange<body-joint-actuatorforcerange>` for clamping total actuator force at joints and
:ref:`sensor-jointactuatorfrc<sensor-jointactuatorfrc>` for measuring total actuation force applied at a joint. The
most important use case for joint-level actuator force clamping is to ensure that
:ref:`Cartesian actuator<actuator-general-refsite>` forces are realizable by individual motors at the joints.
See :ref:`CForceRange` for details.
- Added an optional ``content_type`` attribute to hfield, texture, and mesh assets. This attribute supports a formatted
`Media Type <https://www.iana.org/assignments/media-types/media-types.xhtml>`_ (previously known as MIME type) string
used to determine the type of the asset file without resorting to pulling the type from the file extension.
- Added analytic derivatives for quaternion :ref:`subtraction<mjd_subQuat>` and :ref:`integration<mjd_quatIntegrate>`
(rotation with an angular velocity). Derivatives are in the 3D tangent space.
- Added :ref:`mjv_connector` which has identical functionality to :ref:`mjv_makeConnector`, but with more convenient
"from-to" argument parametrization. :ref:`mjv_makeConnector` is now deprecated.
- Bumped oldest supported MacOS from version 10.12 to 11. MacOS 11 is the oldest version still maintained by Apple.
1. Added primitive collider for sphere-cylinder contacts, previously this pair used the generic convex-convex collider.
#. Added :ref:`joint-actuatorforcerange<body-joint-actuatorforcerange>` for clamping total actuator force at joints and
:ref:`sensor-jointactuatorfrc<sensor-jointactuatorfrc>` for measuring total actuation force applied at a joint. The
most important use case for joint-level actuator force clamping is to ensure that
:ref:`Cartesian actuator<actuator-general-refsite>` forces are realizable by individual motors at the joints.
See :ref:`CForceRange` for details.
#. Added an optional ``content_type`` attribute to hfield, texture, and mesh assets. This attribute supports a formatted
`Media Type <https://www.iana.org/assignments/media-types/media-types.xhtml>`_ (previously known as MIME type) string
used to determine the type of the asset file without resorting to pulling the type from the file extension.
#. Added analytic derivatives for quaternion :ref:`subtraction<mjd_subQuat>` and :ref:`integration<mjd_quatIntegrate>`
(rotation with an angular velocity). Derivatives are in the 3D tangent space.
#. Added :ref:`mjv_connector` which has identical functionality to :ref:`mjv_makeConnector`, but with more convenient
"from-to" argument parametrization. :ref:`mjv_makeConnector` is now deprecated.
#. Bumped oldest supported MacOS from version 10.12 to 11. MacOS 11 is the oldest version still maintained by Apple.
Python bindings
^^^^^^^^^^^^^^^
- The :ref:`passive viewer<PyViewerPassive>` handle now exposes ``update_hfield``, ``update_mesh``, and
``update_texture`` methods to allow users to update renderable assets.
(`#812 <https://github.com/deepmind/mujoco/issues/812>`_, `#958 <https://github.com/deepmind/mujoco/issues/958>`_,
`#965 <https://github.com/deepmind/mujoco/issues/965>`_)
- Allow a custom keyboard event callback to be specified in the :ref:`passive viewer<PyViewerPassive>`.
(`#766 <https://github.com/deepmind/mujoco/issues/766>`_)
- Fix GLFW crash when Python exits while the passive viewer is running.
(`#790 <https://github.com/deepmind/mujoco/issues/790>`_)
7. The :ref:`passive viewer<PyViewerPassive>` handle now exposes ``update_hfield``, ``update_mesh``, and
``update_texture`` methods to allow users to update renderable assets.
(`#812 <https://github.com/deepmind/mujoco/issues/812>`_, `#958 <https://github.com/deepmind/mujoco/issues/958>`_,
`#965 <https://github.com/deepmind/mujoco/issues/965>`_)
#. Allow a custom keyboard event callback to be specified in the :ref:`passive viewer<PyViewerPassive>`.
(`#766 <https://github.com/deepmind/mujoco/issues/766>`_)
#. Fix GLFW crash when Python exits while the passive viewer is running.
(`#790 <https://github.com/deepmind/mujoco/issues/790>`_)
Models
^^^^^^
- Added simple `car <https://github.com/deepmind/mujoco/blob/main/model/car/car.xml>`__ example model.
10. Added simple `car <https://github.com/deepmind/mujoco/blob/main/model/car/car.xml>`__ example model.
Version 2.3.6 (June 20, 2023)
-----------------------------
doc/unity.rst
+2 -2
View File
@@ -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.2.3.6.dylib`` (it can be
``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.2.3.7.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-2.3.6/lib/libmujoco.so.2.3.6`` and rename it as ``libmujoco.so``.
``~/.mujoco/mujoco-2.3.7/lib/libmujoco.so.2.3.7`` and rename it as ``libmujoco.so``.
Windows
_______
include/mujoco/mujoco.h
+1 -1
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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 236
#define mjVERSION_HEADER 237
// needed to define size_t, fabs and log10
#include <stdlib.h>
python/build_requirements.txt
+30 -30
View File
@@ -1,33 +1,33 @@
auditwheel==5.4.0 \
--hash=sha256:d8410a17523427ba3f7b60c9701d23de28b8f94fa5dab732aa6c30d160df8127
numpy==1.24.3; python_version == '3.8' \
--hash=sha256:56e48aec79ae238f6e4395886b5eaed058abb7231fb3361ddd7bfdf4eed54289 \
--hash=sha256:4749e053a29364d3452c034827102ee100986903263e89884922ef01a0a6fd2f \
--hash=sha256:ecde0f8adef7dfdec993fd54b0f78183051b6580f606111a6d789cd14c61ea0c \
--hash=sha256:ae8d0be48d1b6ed82588934aaaa179875e7dc4f3d84da18d7eae6eb3f06c242c \
--hash=sha256:7776ea65423ca6a15255ba1872d82d207bd1e09f6d0894ee4a64678dd2204078
numpy==1.25.0; python_version >= '3.9' \
--hash=sha256:b76aa836a952059d70a2788a2d98cb2a533ccd46222558b6970348939e55fc24 \
--hash=sha256:e559c6afbca484072a98a51b6fa466aae785cfe89b69e8b856c3191bc8872a82 \
--hash=sha256:ecc68f11404930e9c7ecfc937aa423e1e50158317bf67ca91736a9864eae0232 \
--hash=sha256:9c7211d7920b97aeca7b3773a6783492b5b93baba39e7c36054f6e749fc7490c \
--hash=sha256:4c69fe5f05eea336b7a740e114dec995e2f927003c30702d896892403df6dbf0 \
--hash=sha256:c0dc071017bc00abb7d7201bac06fa80333c6314477b3d10b52b58fa6a6e38f6 \
--hash=sha256:4aedd08f15d3045a4e9c648f1e04daca2ab1044256959f1f95aafeeb3d794c16 \
--hash=sha256:d6b267f349a99d3908b56645eebf340cb58f01bd1e773b4eea1a905b3f0e4208 \
--hash=sha256:9e3f2b96e3b63c978bc29daaa3700c028fe3f049ea3031b58aa33fe2a5809d24 \
--hash=sha256:8aa130c3042052d656751df5e81f6d61edff3e289b5994edcf77f54118a8d9f4 \
--hash=sha256:26815c6c8498dc49d81faa76d61078c4f9f0859ce7817919021b9eba72b425e3 \
--hash=sha256:5177310ac2e63d6603f659fadc1e7bab33dd5a8db4e0596df34214eeab0fee3b \
--hash=sha256:5aa48bebfb41f93043a796128854b84407d4df730d3fb6e5dc36402f5cd594c0 \
--hash=sha256:7cd981ccc0afe49b9883f14761bb57c964df71124dcd155b0cba2b591f0d64b9 \
--hash=sha256:b792164e539d99d93e4e5e09ae10f8cbe5466de7d759fc155e075237e0c274e4 \
pip==23.1.2 \
--hash=sha256:3ef6ac33239e4027d9a5598a381b9d30880a1477e50039db2eac6e8a8f6d1b18
numpy==1.24.4; python_version == '3.8' \
--hash=sha256:692f2e0f55794943c5bfff12b3f56f99af76f902fc47487bdfe97856de51a706 \
--hash=sha256:dd80e219fd4c71fc3699fc1dadac5dcf4fd882bfc6f7ec53d30fa197b8ee22dc \
--hash=sha256:a5425b114831d1e77e4b5d812b69d11d962e104095a5b9c3b641a218abcc050e \
--hash=sha256:04640dab83f7c6c85abf9cd729c5b65f1ebd0ccf9de90b270cd61935eef0197f \
--hash=sha256:1452241c290f3e2a312c137a9999cdbf63f78864d63c79039bda65ee86943f61
numpy==1.25.1; python_version >= '3.9' \
--hash=sha256:c40571fe966393b212689aa17e32ed905924120737194b5d5c1b20b9ed0fb171 \
--hash=sha256:d5154b1a25ec796b1aee12ac1b22f414f94752c5f94832f14d8d6c9ac40bcca6 \
--hash=sha256:41a56b70e8139884eccb2f733c2f7378af06c82304959e174f8e7370af112e09 \
--hash=sha256:e8f6049c4878cb16960fbbfb22105e49d13d752d4d8371b55110941fb3b17800 \
--hash=sha256:6b82655dd8efeea69dbf85d00fca40013d7f503212bc5259056244961268b66e \
--hash=sha256:c1516db588987450b85595586605742879e50dcce923e8973f79529651545b57 \
--hash=sha256:6c6c9261d21e617c6dc5eacba35cb68ec36bb72adcff0dee63f8fbc899362588 \
--hash=sha256:4a90725800caeaa160732d6b31f3f843ebd45d6b5f3eec9e8cc287e30f2805bf \
--hash=sha256:d736b75c3f2cb96843a5c7f8d8ccc414768d34b0a75f466c05f3a739b406f10b \
--hash=sha256:77d339465dff3eb33c701430bcb9c325b60354698340229e1dff97745e6b3efa \
--hash=sha256:1d5d3c68e443c90b38fdf8ef40e60e2538a27548b39b12b73132456847f4b631 \
--hash=sha256:20e1266411120a4f16fad8efa8e0454d21d00b8c7cee5b5ccad7565d95eb42dd \
--hash=sha256:d412c1697c3853c6fc3cb9751b4915859c7afe6a277c2bf00acf287d56c4e625 \
--hash=sha256:1a180429394f81c7933634ae49b37b472d343cccb5bb0c4a575ac8bbc433722f \
--hash=sha256:3d7abcdd85aea3e6cdddb59af2350c7ab1ed764397f8eec97a038ad244d2d105 \
pip==23.2 \
--hash=sha256:78e5353a9dda374b462f2054f83a7b63f3f065c98236a68361845c1b0ee7e35f
PyOpenGL==3.1.7 \
--hash=sha256:a6ab19cf290df6101aaf7470843a9c46207789855746399d0af92521a0a92b7a
pytest==7.3.2 \
--hash=sha256:cdcbd012c9312258922f8cd3f1b62a6580fdced17db6014896053d47cddf9295
pytest==7.4.0 \
--hash=sha256:78bf16451a2eb8c7a2ea98e32dc119fd2aa758f1d5d66dbf0a59d69a3969df32
setuptools==68.0.0 \
--hash=sha256:11e52c67415a381d10d6b462ced9cfb97066179f0e871399e006c4ab101fc85f
wheel==0.40.0 \
@@ -42,14 +42,14 @@ attrs==23.1.0 \
--hash=sha256:1f28b4522cdc2fb4256ac1a020c78acf9cba2c6b461ccd2c126f3aa8e8335d04
colorama==0.4.6 \
--hash=sha256:4f1d9991f5acc0ca119f9d443620b77f9d6b33703e51011c16baf57afb285fc6
exceptiongroup==1.1.1; python_version < '3.11' \
--hash=sha256:232c37c63e4f682982c8b6459f33a8981039e5fb8756b2074364e5055c498c9e
exceptiongroup==1.1.2; python_version < '3.11' \
--hash=sha256:e346e69d186172ca7cf029c8c1d16235aa0e04035e5750b4b95039e65204328f
iniconfig==2.0.0 \
--hash=sha256:b6a85871a79d2e3b22d2d1b94ac2824226a63c6b741c88f7ae975f18b6778374
packaging==23.1 \
--hash=sha256:994793af429502c4ea2ebf6bf664629d07c1a9fe974af92966e4b8d2df7edc61
pluggy==1.0.0 \
--hash=sha256:74134bbf457f031a36d68416e1509f34bd5ccc019f0bcc952c7b909d06b37bd3
pluggy==1.2.0 \
--hash=sha256:c2fd55a7d7a3863cba1a013e4e2414658b1d07b6bc57b3919e0c63c9abb99849
pyparsing==3.1.0 \
--hash=sha256:d554a96d1a7d3ddaf7183104485bc19fd80543ad6ac5bdb6426719d766fb06c1
tomli==2.0.1; python_version < '3.11' \
python/make_sdist_requirements.txt
+2 -2
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@@ -1,6 +1,6 @@
absl-py==1.4.0 \
--hash=sha256:0d3fe606adfa4f7db64792dd4c7aee4ee0c38ab75dfd353b7a83ed3e957fcb47
pip==23.1.2 \
--hash=sha256:3ef6ac33239e4027d9a5598a381b9d30880a1477e50039db2eac6e8a8f6d1b18
pip==23.2 \
--hash=sha256:78e5353a9dda374b462f2054f83a7b63f3f065c98236a68361845c1b0ee7e35f
setuptools==68.0.0 \
--hash=sha256:11e52c67415a381d10d6b462ced9cfb97066179f0e871399e006c4ab101fc85f
python/mujoco/CMakeLists.txt
+4 -4
View File
@@ -84,7 +84,7 @@ 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.2.3.6.dylib
${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.2.3.7.dylib
)
target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK})
endif()
@@ -92,7 +92,7 @@ if(NOT TARGET mujoco)
if(NOT MUJOCO_FRAMEWORK)
find_library(
MUJOCO_LIBRARY mujoco mujoco.2.3.6 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
MUJOCO_LIBRARY mujoco mujoco.2.3.7 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
)
find_path(MUJOCO_INCLUDE mujoco/mujoco.h HINTS ${MUJOCO_INCLUDE_DIR} REQUIRED)
message("MuJoCo is at ${MUJOCO_LIBRARY}")
@@ -173,7 +173,7 @@ findorfetch(
GIT_REPO
https://gitlab.com/libeigen/eigen
GIT_TAG
969c31eefcdfaab11da763bea3f7502086673ab0
211c5dfc6741a5570ad007983c113ef4d144f9f3
TARGETS
Eigen3::Eigen
EXCLUDE_FROM_ALL
@@ -190,7 +190,7 @@ findorfetch(
GIT_REPO
https://github.com/pybind/pybind11
GIT_TAG
5b0a6fc2017fcc176545afe3e09c9f9885283242 # v2.10.4
8a099e44b3d5f85b20f05828d919d2332a8de841 # v2.11.1
TARGETS
pybind11::pybind11_headers
EXCLUDE_FROM_ALL
python/mujoco/mjpython/Info.plist
+4 -4
View File
@@ -7,13 +7,13 @@
<key>CFBundleIdentifier</key>
<string>org.mujoco.mjpython</string>
<key>CFBundleVersion</key>
<string>2.3.6</string>
<string>2.3.7</string>
<key>CFBundleGetInfoString</key>
<string>2.3.6</string>
<string>2.3.7</string>
<key>CFBundleLongVersionString</key>
<string>2.3.6</string>
<string>2.3.7</string>
<key>CFBundleShortVersionString</key>
<string>2.3.6</string>
<string>2.3.7</string>
<key>CFBundleExecutable</key>
<string>mjpython</string>
<key>CFBundleIconFile</key>
python/setup.py
+1 -1
View File
@@ -32,7 +32,7 @@ from setuptools import setup
from setuptools.command import build_ext
from setuptools.command import install_scripts
__version__ = '2.3.6'
__version__ = '2.3.7'
MUJOCO_CMAKE = 'MUJOCO_CMAKE'
MUJOCO_CMAKE_ARGS = 'MUJOCO_CMAKE_ARGS'
sample/CMakeLists.txt
+1 -1
View File
@@ -24,7 +24,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON)
project(
mujoco_samples
VERSION 2.3.6
VERSION 2.3.7
DESCRIPTION "MuJoCo samples binaries"
HOMEPAGE_URL "https://mujoco.org"
)
simulate/CMakeLists.txt
+1 -1
View File
@@ -29,7 +29,7 @@ set(MUJOCO_DEP_VERSION_lodepng
project(
mujoco_simulate
VERSION 2.3.6
VERSION 2.3.7
DESCRIPTION "MuJoCo simulate binaries"
HOMEPAGE_URL "https://mujoco.org"
)
src/engine/engine_support.c
+2 -2
View File
@@ -38,8 +38,8 @@
//-------------------------- Constants -------------------------------------------------------------
#define mjVERSION 236
#define mjVERSIONSTRING "2.3.6"
#define mjVERSION 237
#define mjVERSIONSTRING "2.3.7"
// names of disable flags
const char* mjDISABLESTRING[mjNDISABLE] = {
unity/Editor/Bindings/MujocoBinaryRetriever.cs
+2 -2
View File
@@ -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.2.3.6.dylib",
"/mujoco.framework/Versions/Current/libmujoco.2.3.7.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-2.3.6/lib/libmujoco.so.2.3.6",
"/.mujoco/mujoco-2.3.7/lib/libmujoco.so.2.3.7",
mujocoPath + "/libmujoco.so");
AssetDatabase.Refresh();
}
unity/Runtime/Bindings/MjBindings.cs
+1 -1
View File
@@ -105,7 +105,7 @@ 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 = 236;
public const int mjVERSION_HEADER = 237;
// ------------------------------------Enums------------------------------------
unity/package.json
+1 -1
View File
@@ -1,7 +1,7 @@
{
"name": "org.mujoco",
"displayName": "MuJoCo",
"version": "2.3.6",
"version": "2.3.7",
"description": "MuJoCo importer and runtime plug-in",
"dependencies": {},
"author": {