diff --git a/CMakeLists.txt b/CMakeLists.txt index 259fd29b..1ad7915c 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -28,7 +28,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON) project( mujoco - VERSION 3.2.0 + VERSION 3.2.1 DESCRIPTION "MuJoCo Physics Simulator" HOMEPAGE_URL "https://mujoco.org" ) diff --git a/dist/mujoco.rc b/dist/mujoco.rc index 5f1236da..0b01511b 100644 --- a/dist/mujoco.rc +++ b/dist/mujoco.rc @@ -1,6 +1,6 @@ 1 VERSIONINFO -FILEVERSION 3,2,0,0 -PRODUCTVERSION 3,2,0,0 +FILEVERSION 3,2,1,0 +PRODUCTVERSION 3,2,1,0 FILEOS 0x4 FILETYPE 0x1 { @@ -9,9 +9,9 @@ FILETYPE 0x1 BLOCK "040904b0" { VALUE "ProductName", "MuJoCo" - VALUE "ProductVersion", "3.2.0" + VALUE "ProductVersion", "3.2.1" VALUE "FileDescription", "MuJoCo" - VALUE "FileVersion", "3.2.0" + VALUE "FileVersion", "3.2.1" VALUE "InternalName", "mujoco.dll" VALUE "OriginalFilename", "mujoco.dll" VALUE "CompanyName", "Google DeepMind" diff --git a/dist/simulate.rc b/dist/simulate.rc index c83bfe71..1d8088e1 100644 --- a/dist/simulate.rc +++ b/dist/simulate.rc @@ -1,8 +1,8 @@ MUJOCO ICON "mujoco.ico" 1 VERSIONINFO -FILEVERSION 3,2,0,0 -PRODUCTVERSION 3,2,0,0 +FILEVERSION 3,2,1,0 +PRODUCTVERSION 3,2,1,0 FILEOS 0x4 FILETYPE 0x1 { @@ -11,9 +11,9 @@ FILETYPE 0x1 BLOCK "040904b0" { VALUE "ProductName", "MuJoCo" - VALUE "ProductVersion", "3.2.0" + VALUE "ProductVersion", "3.2.1" VALUE "FileDescription", "MuJoCo" - VALUE "FileVersion", "3.2.0" + VALUE "FileVersion", "3.2.1" 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 0b15f605..27a6e56c 100644 --- a/doc/APIreference/APIglobals.rst +++ b/doc/APIreference/APIglobals.rst @@ -517,7 +517,7 @@ shown in the table below. Their names are in the format ``mjKEY_XXX``. They corr - Maximum number of UI rectangles. Defined in `mjui.h `_. * - ``mjVERSION_HEADER`` - - 320 + - 321 - 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. diff --git a/doc/unity.rst b/doc/unity.rst index 6177ef02..eec79313 100644 --- a/doc/unity.rst +++ b/doc/unity.rst @@ -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.3.2.0.dylib`` (it can be +``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.3.2.1.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-3.2.0/lib/libmujoco.so.3.2.0`` and rename it as ``libmujoco.so``. +``~/.mujoco/mujoco-3.2.1/lib/libmujoco.so.3.2.1`` and rename it as ``libmujoco.so``. Windows _______ diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h index e6dd26a1..694755ae 100644 --- a/include/mujoco/mujoco.h +++ b/include/mujoco/mujoco.h @@ -16,7 +16,7 @@ #define MUJOCO_MUJOCO_H_ // header version; should match the library version as returned by mj_version() -#define mjVERSION_HEADER 320 +#define mjVERSION_HEADER 321 // needed to define size_t, fabs and log10 #include diff --git a/mjx/pyproject.toml b/mjx/pyproject.toml index ea9413da..c6c05428 100644 --- a/mjx/pyproject.toml +++ b/mjx/pyproject.toml @@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta" [project] name="mujoco-mjx" -version = "3.2.0" +version = "3.2.1" authors = [ {name = "Google DeepMind", email = "mujoco@deepmind.com"}, ] @@ -31,7 +31,7 @@ dependencies = [ "etils[epath]", "jax", "jaxlib", - "mujoco>=3.2.0.dev0", + "mujoco>=3.2.1.dev0", "scipy", "trimesh", ] @@ -42,6 +42,6 @@ mjx-viewer = "mujoco.mjx.viewer:main" [project.urls] Homepage = "https://github.com/google-deepmind/mujoco/tree/main/mjx" -Documentation = "https://mujoco.readthedocs.io/en/3.2.0" +Documentation = "https://mujoco.readthedocs.io/en/3.2.1" Repository = "https://github.com/google-deepmind/mujoco/tree/main/mjx" -Changelog = "https://mujoco.readthedocs.io/en/3.2.0/changelog.html" +Changelog = "https://mujoco.readthedocs.io/en/3.2.1/changelog.html" diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt index 497f73ea..b2ab7325 100644 --- a/python/mujoco/CMakeLists.txt +++ b/python/mujoco/CMakeLists.txt @@ -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.3.2.0.dylib + ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.2.1.dylib ) target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK}) endif() @@ -92,7 +92,7 @@ if(NOT TARGET mujoco) if(NOT MUJOCO_FRAMEWORK) find_library( - MUJOCO_LIBRARY mujoco mujoco.3.2.0 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED + MUJOCO_LIBRARY mujoco mujoco.3.2.1 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 3aa9dc55..abbaf474 100644 --- a/python/mujoco/mjpython/Info.plist +++ b/python/mujoco/mjpython/Info.plist @@ -7,13 +7,13 @@ CFBundleIdentifier org.mujoco.mjpython CFBundleVersion - 3.2.0 + 3.2.1 CFBundleGetInfoString - 3.2.0 + 3.2.1 CFBundleLongVersionString - 3.2.0 + 3.2.1 CFBundleShortVersionString - 3.2.0 + 3.2.1 CFBundleExecutable mjpython CFBundleIconFile diff --git a/python/pyproject.toml b/python/pyproject.toml index c0d12e9d..bec7226f 100644 --- a/python/pyproject.toml +++ b/python/pyproject.toml @@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta" [project] name = "mujoco" -version = "3.2.0" +version = "3.2.1" authors = [ {name = "Google DeepMind", email = "mujoco@deepmind.com"}, ] @@ -36,9 +36,9 @@ dynamic = ["readme", "scripts"] [project.urls] Homepage = "https://github.com/google-deepmind/mujoco" -Documentation = "https://mujoco.readthedocs.io/en/3.2.0" +Documentation = "https://mujoco.readthedocs.io/en/3.2.1" Repository = "https://github.com/google-deepmind/mujoco" -Changelog = "https://mujoco.readthedocs.io/en/3.2.0/changelog.html" +Changelog = "https://mujoco.readthedocs.io/en/3.2.1/changelog.html" [tool.setuptools] include-package-data = false diff --git a/sample/CMakeLists.txt b/sample/CMakeLists.txt index 029fc31f..7d4f97be 100644 --- a/sample/CMakeLists.txt +++ b/sample/CMakeLists.txt @@ -24,7 +24,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON) project( mujoco_samples - VERSION 3.2.0 + VERSION 3.2.1 DESCRIPTION "MuJoCo samples binaries" HOMEPAGE_URL "https://mujoco.org" ) diff --git a/simulate/CMakeLists.txt b/simulate/CMakeLists.txt index e7a0fa06..d3d4e1fe 100644 --- a/simulate/CMakeLists.txt +++ b/simulate/CMakeLists.txt @@ -29,7 +29,7 @@ set(MUJOCO_DEP_VERSION_lodepng project( mujoco_simulate - VERSION 3.2.0 + VERSION 3.2.1 DESCRIPTION "MuJoCo simulate binaries" HOMEPAGE_URL "https://mujoco.org" ) diff --git a/src/engine/engine_support.c b/src/engine/engine_support.c index a3f269c0..4effce9e 100644 --- a/src/engine/engine_support.c +++ b/src/engine/engine_support.c @@ -38,8 +38,8 @@ //-------------------------- Constants ------------------------------------------------------------- - #define mjVERSION 320 -#define mjVERSIONSTRING "3.2.0" + #define mjVERSION 321 +#define mjVERSIONSTRING "3.2.1" // names of disable flags const char* mjDISABLESTRING[mjNDISABLE] = { diff --git a/unity/Editor/Bindings/MujocoBinaryRetriever.cs b/unity/Editor/Bindings/MujocoBinaryRetriever.cs index 370577f5..3082a864 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.3.2.0.dylib", + "/mujoco.framework/Versions/Current/libmujoco.3.2.1.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-3.2.0/lib/libmujoco.so.3.2.0", + "/.mujoco/mujoco-3.2.1/lib/libmujoco.so.3.2.1", mujocoPath + "/libmujoco.so"); AssetDatabase.Refresh(); } diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs index b5563b2e..d5cf1a77 100644 --- a/unity/Runtime/Bindings/MjBindings.cs +++ b/unity/Runtime/Bindings/MjBindings.cs @@ -108,7 +108,7 @@ 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 = 320; +public const int mjVERSION_HEADER = 321; // ------------------------------------Enums------------------------------------ diff --git a/unity/package.json b/unity/package.json index 92f4b6c0..b5d845bd 100644 --- a/unity/package.json +++ b/unity/package.json @@ -1,7 +1,7 @@ { "name": "org.mujoco", "displayName": "MuJoCo", - "version": "3.2.0", + "version": "3.2.1", "description": "MuJoCo importer and runtime plug-in", "dependencies": {}, "author": {