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Bump MuJoCo version to 2.3.2.

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PiperOrigin-RevId: 507720557
Change-Id: I7a5b577094ac1a7f468a84c484f62f61dc6b409f
This commit is contained in:
Alessio Quaglino
2023-02-07 02:34:29 -08:00
committed by Copybara-Service
parent 36836d8e42
commit dd632b7ccc
21 changed files with 66 additions and 81 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 2.3.1
VERSION 2.3.2
DESCRIPTION "MuJoCo Physics Simulator"
HOMEPAGE_URL "https://mujoco.org"
)
cmake/CheckAvxSupport.cmake
+3
View File
@@ -20,6 +20,9 @@ function(get_avx_compile_options OUTPUT_VAR)
if(MSVC)
set(CMAKE_REQUIRED_FLAGS "/arch:AVX")
elseif(WIN32)
# Abseil LTS 20230125.0 assumes that AVX implies PCLMUL on Windows.
set(CMAKE_REQUIRED_FLAGS "-mavx" "-mpclmul")
else()
set(CMAKE_REQUIRED_FLAGS "-mavx")
endif()
cmake/MujocoDependencies.cmake
+4 -4
View File
@@ -23,7 +23,7 @@ set(MUJOCO_DEP_VERSION_lodepng
CACHE STRING "Version of `lodepng` to be fetched."
)
set(MUJOCO_DEP_VERSION_tinyxml2
1dee28e51f9175a31955b9791c74c430fe13dc82 # 9.0.0
9a89766acc42ddfa9e7133c7d81a5bda108a0ade
CACHE STRING "Version of `tinyxml2` to be fetched."
)
set(MUJOCO_DEP_VERSION_tinyobjloader
@@ -39,17 +39,17 @@ set(MUJOCO_DEP_VERSION_qhull
CACHE STRING "Version of `qhull` to be fetched."
)
set(MUJOCO_DEP_VERSION_Eigen3
3bb6a48d8c171cf20b5f8e48bfb4e424fbd4f79e
3460f3558e7b469efb8a225894e21929c8c77629
CACHE STRING "Version of `Eigen3` to be fetched."
)
set(MUJOCO_DEP_VERSION_abseil
8c0b94e793a66495e0b1f34a5eb26bd7dc672db0 # LTS 20220623.1
78be63686ba732b25052be15f8d6dee891c05749 # LTS 20230125.0
CACHE STRING "Version of `abseil` to be fetched."
)
set(MUJOCO_DEP_VERSION_gtest
58d77fa8070e8cec2dc1ed015d66b454c8d78850 # release-1.12.1
b796f7d44681514f58a683a3a71ff17c94edb0c1 # release-1.13.0
CACHE STRING "Version of `gtest` to be fetched."
)
cmake/MujocoOptions.cmake
-6
View File
@@ -95,12 +95,6 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
-Wno-stringop-overflow
-Wno-stringop-truncation
)
elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL "15.0.0")
# Needed for https://github.com/abseil/abseil-cpp/issues/1201, until a new
# version of abseil is released with the fix.
set(EXTRA_COMPILE_OPTIONS "${EXTRA_COMPILE_OPTIONS}"
-Wno-deprecated-builtins
)
endif()
endif()
dist/mujoco.rc
Vendored
+4 -4
View File
@@ -1,6 +1,6 @@
1 VERSIONINFO
FILEVERSION 2,3,1,0
PRODUCTVERSION 2,3,1,0
FILEVERSION 2,3,2,0
PRODUCTVERSION 2,3,2,0
FILEOS 0x4
FILETYPE 0x1
{
@@ -9,9 +9,9 @@ FILETYPE 0x1
BLOCK "040904b0"
{
VALUE "ProductName", "MuJoCo"
VALUE "ProductVersion", "2.3.1"
VALUE "ProductVersion", "2.3.2"
VALUE "FileDescription", "MuJoCo"
VALUE "FileVersion", "2.3.1"
VALUE "FileVersion", "2.3.2"
VALUE "InternalName", "mujoco.dll"
VALUE "OriginalFilename", "mujoco.dll"
VALUE "CompanyName", "DeepMind"
dist/simulate.rc
Vendored
+4 -4
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@@ -1,8 +1,8 @@
MUJOCO ICON "mujoco.ico"
1 VERSIONINFO
FILEVERSION 2,3,1,0
PRODUCTVERSION 2,3,1,0
FILEVERSION 2,3,2,0
PRODUCTVERSION 2,3,2,0
FILEOS 0x4
FILETYPE 0x1
{
@@ -11,9 +11,9 @@ FILETYPE 0x1
BLOCK "040904b0"
{
VALUE "ProductName", "MuJoCo"
VALUE "ProductVersion", "2.3.1"
VALUE "ProductVersion", "2.3.2"
VALUE "FileDescription", "MuJoCo"
VALUE "FileVersion", "2.3.1"
VALUE "FileVersion", "2.3.2"
VALUE "InternalName", "simulate.exe"
VALUE "OriginalFilename", "simulate.exe"
VALUE "CompanyName", "DeepMind"
doc/changelog.rst
+27 -27
View File
@@ -2,55 +2,55 @@
Changelog
=========
Upcoming version (not yet released)
Version 2.3.2 (February 7, 2023)
-----------------------------------
General
^^^^^^^
- A more performant mju_transposeSparse has been implemented that doesn't require dense memory allocation.
For a constraint Jacobian matrix from the
`humanoid100.xml <https://github.com/deepmind/mujoco/blob/main/model/humanoid100/humanoid100.xml>`_ model,
this function is 35% faster.
- The function :ref:`mj_name2id` is now implemented using a hash function instead of a linear search for better
performance.
- Geom names are now parsed from URDF. Any duplicate names are ignored.
- ``mj_printData`` output now contains contacting geom names.
1. A more performant mju_transposeSparse has been implemented that doesn't require dense memory allocation.
For a constraint Jacobian matrix from the
`humanoid100.xml <https://github.com/deepmind/mujoco/blob/main/model/humanoid100/humanoid100.xml>`_ model,
this function is 35% faster.
#. The function :ref:`mj_name2id` is now implemented using a hash function instead of a linear search for better
performance.
#. Geom names are now parsed from URDF. Any duplicate names are ignored.
``mj_printData`` output now contains contacting geom names.
Bug fixes
^^^^^^^^^
- Fixed a bug that for :at:`shellinertia` equal to ``true`` caused the mesh orientation to be overwritten by the
principal components of the shell inertia, while the vertex coordinates are rotated using the volumetric inertia.
Now the volumetric inertia orientation is used also in the shell case.
- Fixed misalignment bug in mesh-to-primitive fitting when using the bounding box fitting option :at:`fitaabb`.
4. Fixed a bug that for :at:`shellinertia` equal to ``true`` caused the mesh orientation to be overwritten by the
principal components of the shell inertia, while the vertex coordinates are rotated using the volumetric inertia.
Now the volumetric inertia orientation is used also in the shell case.
#. Fixed misalignment bug in mesh-to-primitive fitting when using the bounding box fitting option :at:`fitaabb`.
.. image:: images/changelog/meshfit.png
:align: right
:width: 300px
- The ``launch_repl`` functionality in the Python viewer has been fixed.
- Set ``time`` correctly in ``mjd_transitionFD``, to support time-dependent user code.
- Fixed sensor data dimension validation when ``user`` type sensors are present.
- Fixed incorrect plugin error message when a null ``nsensordata`` callback is encountered during model compilation.
- Correctly end the timer (``TM_END``) ``mj_fwdConstraint`` returns early.
- Fixed an infinite loop in ``mj_deleteFileVFS``.
#. The ``launch_repl`` functionality in the Python viewer has been fixed.
#. Set ``time`` correctly in ``mjd_transitionFD``, to support time-dependent user code.
#. Fixed sensor data dimension validation when ``user`` type sensors are present.
#. Fixed incorrect plugin error message when a null ``nsensordata`` callback is encountered during model compilation.
#. Correctly end the timer (``TM_END``) ``mj_fwdConstraint`` returns early.
#. Fixed an infinite loop in ``mj_deleteFileVFS``.
Simulate
^^^^^^^^
- Increased precision of simulate sensor plot y-axis by 1 digit
(`#719 <https://github.com/deepmind/mujoco/issues/719>`_).
- Body labels are now drawn at the body frame rather than inertial frame, unless inertia is being visualised.
12. Increased precision of simulate sensor plot y-axis by 1 digit
(`#719 <https://github.com/deepmind/mujoco/issues/719>`_).
#. Body labels are now drawn at the body frame rather than inertial frame, unless inertia is being visualised.
Plugins
^^^^^^^
- The ``reset`` callback now receives instance-specific ``plugin_state`` and ``plugin_data`` as arguments, rather than
the entire ``mjData``. Since ``reset`` is called inside ``mj_resetData`` before any physics forwarding call has been
made, it is an error to read anything from ``mjData`` at this stage.
- The ``capabilities`` field in ``mjpPlugin`` is renamed ``capabilityflags`` to more clearly indicate that this is a
bit field.
14. The ``reset`` callback now receives instance-specific ``plugin_state`` and ``plugin_data`` as arguments, rather than
the entire ``mjData``. Since ``reset`` is called inside ``mj_resetData`` before any physics forwarding call has been
made, it is an error to read anything from ``mjData`` at this stage.
#. The ``capabilities`` field in ``mjpPlugin`` is renamed ``capabilityflags`` to more clearly indicate that this is a
bit field.
Version 2.3.1 (December 6, 2022)
doc/unity.rst
+2 -2
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@@ -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.2.3.1.dylib`` (it can be
``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.2.3.2.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-2.3.1/lib/libmujoco.so.2.3.1`` and rename it as ``libmujoco.so``.
``~/.mujoco/mujoco-2.3.2/lib/libmujoco.so.2.3.2`` 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 231
#define mjVERSION_HEADER 232
// needed to define size_t, fabs and log10
#include <stdlib.h>
python/mujoco/CMakeLists.txt
+5 -11
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@@ -46,12 +46,6 @@ elseif(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Cl
add_compile_options(-fdata-sections -ffunction-sections)
endif()
if(CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL "15.0.0")
# Needed for https://github.com/abseil/abseil-cpp/issues/1201, until a new
# version of abseil is released with the fix.
add_compile_options(-Wno-deprecated-builtins)
endif()
include(MujocoLinkOptions)
get_mujoco_extra_link_options(EXTRA_LINK_OPTIONS)
add_link_options(${EXTRA_LINK_OPTIONS})
@@ -81,13 +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.2.3.1.dylib)
set(MUJOCO_LIBRARY ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.2.3.2.dylib)
target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK})
endif()
endif()
if(NOT MUJOCO_FRAMEWORK)
find_library(MUJOCO_LIBRARY mujoco mujoco.2.3.1 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED)
find_library(MUJOCO_LIBRARY mujoco mujoco.2.3.2 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}")
@@ -134,7 +128,7 @@ findorfetch(
GIT_REPO
https://github.com/abseil/abseil-cpp
GIT_TAG
8c0b94e793a66495e0b1f34a5eb26bd7dc672db0 # LTS 20220623.1
78be63686ba732b25052be15f8d6dee891c05749 # LTS 20230125
TARGETS
${MUJOCO_PYTHON_ABSL_TARGETS}
EXCLUDE_FROM_ALL
@@ -167,7 +161,7 @@ findorfetch(
GIT_REPO
https://gitlab.com/libeigen/eigen
GIT_TAG
3bb6a48d8c171cf20b5f8e48bfb4e424fbd4f79e
3460f3558e7b469efb8a225894e21929c8c77629
TARGETS
Eigen3::Eigen
EXCLUDE_FROM_ALL
@@ -184,7 +178,7 @@ findorfetch(
GIT_REPO
https://github.com/pybind/pybind11
GIT_TAG
33fb7a6bd849653445b6ae37a8c274d3de9519cc
8ece7d641ca6ce316e59fec6744b8517073bbe32
TARGETS
pybind11::pybind11_headers
EXCLUDE_FROM_ALL
python/setup.py
+1 -1
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@@ -30,7 +30,7 @@ from setuptools import find_packages
from setuptools import setup
from setuptools.command import build_ext
__version__ = '2.3.1.post1'
__version__ = '2.3.2'
MUJOCO_CMAKE = 'MUJOCO_CMAKE'
MUJOCO_CMAKE_ARGS = 'MUJOCO_CMAKE_ARGS'
sample/CMakeLists.txt
+1 -1
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@@ -24,7 +24,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON)
project(
mujoco_samples
VERSION 2.3.1
VERSION 2.3.2
DESCRIPTION "MuJoCo samples binaries"
HOMEPAGE_URL "https://mujoco.org"
)
sample/cmake/CheckAvxSupport.cmake
+3
View File
@@ -20,6 +20,9 @@ function(get_avx_compile_options OUTPUT_VAR)
if(MSVC)
set(CMAKE_REQUIRED_FLAGS "/arch:AVX")
elseif(WIN32)
# Abseil LTS 20230125.0 assumes that AVX implies PCLMUL on Windows.
set(CMAKE_REQUIRED_FLAGS "-mavx" "-mpclmul")
else()
set(CMAKE_REQUIRED_FLAGS "-mavx")
endif()
sample/cmake/SampleOptions.cmake
-6
View File
@@ -95,12 +95,6 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
-Wno-stringop-overflow
-Wno-stringop-truncation
)
elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL "15.0.0")
# Needed for https://github.com/abseil/abseil-cpp/issues/1201, until a new
# version of abseil is released with the fix.
set(EXTRA_COMPILE_OPTIONS "${EXTRA_COMPILE_OPTIONS}"
-Wno-deprecated-builtins
)
endif()
endif()
simulate/CMakeLists.txt
+1 -1
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@@ -29,7 +29,7 @@ set(MUJOCO_DEP_VERSION_lodepng
project(
mujoco_simulate
VERSION 2.3.1
VERSION 2.3.2
DESCRIPTION "MuJoCo simulate binaries"
HOMEPAGE_URL "https://mujoco.org"
)
simulate/cmake/CheckAvxSupport.cmake
+3
View File
@@ -20,6 +20,9 @@ function(get_avx_compile_options OUTPUT_VAR)
if(MSVC)
set(CMAKE_REQUIRED_FLAGS "/arch:AVX")
elseif(WIN32)
# Abseil LTS 20230125.0 assumes that AVX implies PCLMUL on Windows.
set(CMAKE_REQUIRED_FLAGS "-mavx" "-mpclmul")
else()
set(CMAKE_REQUIRED_FLAGS "-mavx")
endif()
simulate/cmake/SimulateOptions.cmake
-6
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@@ -95,12 +95,6 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
-Wno-stringop-overflow
-Wno-stringop-truncation
)
elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL "15.0.0")
# Needed for https://github.com/abseil/abseil-cpp/issues/1201, until a new
# version of abseil is released with the fix.
set(EXTRA_COMPILE_OPTIONS "${EXTRA_COMPILE_OPTIONS}"
-Wno-deprecated-builtins
)
endif()
endif()
src/engine/engine_support.c
+2 -2
View File
@@ -36,8 +36,8 @@
#endif
#endif
#define mjVERSION 231
#define mjVERSIONSTRING "2.3.1"
#define mjVERSION 232
#define mjVERSIONSTRING "2.3.2"
// 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.2.3.1.dylib",
"/mujoco.framework/Versions/Current/libmujoco.2.3.2.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-2.3.1/lib/libmujoco.so.2.3.1",
"/.mujoco/mujoco-2.3.2/lib/libmujoco.so.2.3.2",
mujocoPath + "/libmujoco.so");
AssetDatabase.Refresh();
}
unity/Runtime/Bindings/MjBindings.cs
+1 -1
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@@ -101,7 +101,7 @@ 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 = 231;
public const int mjVERSION_HEADER = 232;
// ------------------------------------Enums------------------------------------
unity/package.json
+1 -1
View File
@@ -1,7 +1,7 @@
{
"name": "org.mujoco",
"displayName": "MuJoCo",
"version": "2.3.1",
"version": "2.3.2",
"description": "MuJoCo importer and runtime plug-in",
"dependencies": {},
"author": {