Update MuJoCo to version 2.1.3.
PiperOrigin-RevId: 436727767 Change-Id: I9b1b0084021e83f790efa46eab9a980cbde4953f
This commit is contained in:
Nimrod Gileadi
committed by
Saran Tunyasuvunakool
Saran Tunyasuvunakool
parent
d1db62c6bd
commit
df048e54c0
+24
-2
@@ -2,6 +2,28 @@
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Changelog
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=========
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Version 2.1.3 (Mar. 23, 2022)
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-----------------------------
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General
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^^^^^^^
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1. ``simulate`` now support cycling through cameras (with ``[`` and ``]`` keys).
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#. ``mjVIS_STATIC`` toggles all static bodies, not just direct children of the world.
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Python bindings
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^^^^^^^^^^^^^^^
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3. Add a ``free()`` method to ``MjrContext``.
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#. Enums now support arithmetic and bitwise operations with numbers.
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Bug fixes
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^^^^^^^^^
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5. Fix rendering bug for planes, introduced in 2.1.2. This broke maze environments in
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`dm_control <https://github.com/deepmind/dm_control>`_.
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Version 2.1.2 (Mar. 15, 2022)
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-----------------------------
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@@ -76,7 +98,7 @@ General
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attribute: ``<geom fluidshape="ellipsoid"/>``. The parameters are described succinctly :ref:`here<geom>`, but we
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leave a full description or the model and its parameters to when this feature leaves experimental status.
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Bug Fixes
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Bug fixes
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^^^^^^^^^
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16. ``mj_loadXML`` and ``mj_saveLastXML`` are now locale-independent. The Unity plugin should now work correctly for
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@@ -247,7 +269,7 @@ License manager
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backward compabitibily, but now they do nothing and it is no longer necessary to call them.
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#. Removed the remote license certificate functions ``mj_certXXX``.
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Earlier Versions
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Earlier versions
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----------------
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For changelogs of earlier versions please see `roboti.us <https://www.roboti.us/download.html>`_.
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+1
-1
@@ -18,7 +18,7 @@ DeepMind’s `dm_control <https://github.com/deepmind/dm_control>`__ reinforceme
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version 1.0.0 implemented its own MuJoCo bindings based on ``ctypes``) has been updated to depend on the ``mujoco``
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package and continues to be supported by DeepMind. Changes in dm_control should be largely transparent to users of
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previous versions, however code that depended directly on its low-level API may need to be updated. Consult the
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`migration guide <https://github.com/deepmind/dm_control/blob/main/migration_guide_1.0.md>`__ for detail.
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`migration guide <https://github.com/deepmind/dm_control/blob/master/migration_guide_1.0.md>`__ for detail.
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For mujoco-py users, we include :ref:`notes <PyMjpy_migration>` below to aid migration.
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+1
-1
@@ -24,7 +24,7 @@ extern "C" {
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#endif
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// header version; should match the library version as returned by mj_version()
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#define mjVERSION_HEADER 212
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#define mjVERSION_HEADER 213
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// needed to define size_t, fabs and log10
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#include "stdlib.h"
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@@ -55,7 +55,7 @@ include(FindOrFetch)
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# ==================== MUJOCO LIBRARY ==========================================
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if(NOT TARGET mujoco)
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find_library(MUJOCO_LIBRARY mujoco mujoco.2.1.2 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED)
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find_library(MUJOCO_LIBRARY mujoco mujoco.2.1.3 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED)
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find_path(MUJOCO_INCLUDE mujoco.h HINTS ${MUJOCO_INCLUDE_DIR} REQUIRED)
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message("MuJoCo is at ${MUJOCO_LIBRARY}")
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message("MuJoCo headers are at ${MUJOCO_INCLUDE}")
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@@ -152,7 +152,7 @@ else()
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GIT_REPO
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https://github.com/pybind/pybind11
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GIT_TAG
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4c4b33f14215f8992e2c67ace2a7a4c114c48bb9
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08ea85b0ac0d4d46ac081ff24f481b41322d7159
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TARGETS
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pybind11::pybind11_headers
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EXCLUDE_FROM_ALL
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@@ -41,11 +41,11 @@ if _SYSTEM == 'Linux':
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ctypes.CDLL(os.path.join(os.path.dirname(__file__), libglew_name),
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ctypes.RTLD_GLOBAL)
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ctypes.CDLL(
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os.path.join(os.path.dirname(__file__), 'libmujoco.so.2.1.2'),
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os.path.join(os.path.dirname(__file__), 'libmujoco.so.2.1.3'),
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ctypes.RTLD_GLOBAL)
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else:
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ctypes.CDLL(
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os.path.join(os.path.dirname(__file__), 'libmujoco_nogl.so.2.1.2'),
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os.path.join(os.path.dirname(__file__), 'libmujoco_nogl.so.2.1.3'),
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ctypes.RTLD_GLOBAL)
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elif _SYSTEM == 'Windows':
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if _MUJOCO_GL in _MUJOCO_GL_ENABLE + ('glfw', 'wgl'):
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+1
-1
@@ -30,7 +30,7 @@ from setuptools import find_packages
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from setuptools import setup
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from setuptools.command import build_ext
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__version__ = '2.1.2.post2'
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__version__ = '2.1.3'
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MUJOCO_CMAKE = 'MUJOCO_CMAKE'
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MUJOCO_CMAKE_ARGS = 'MUJOCO_CMAKE_ARGS'
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@@ -10,12 +10,12 @@ CFLAGS=-O2 -I$(MUJOCO_INCLUDEDIR) -I$(HOMEBREW)/include -pthread
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ALLFLAGS=$(CFLAGS) -L$(MUJOCO_LIBDIR) -L$(HOMEBREW)/lib -std=c++11 -stdlib=libc++
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all:
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clang++ $(ALLFLAGS) testxml.cc -lmujoco.2.1.2 -o testxml
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clang++ $(ALLFLAGS) testspeed.cc -lmujoco.2.1.2 -o testspeed
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clang++ $(ALLFLAGS) compile.cc -lmujoco.2.1.2 -o compile
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clang++ $(ALLFLAGS) derivative.cc -lmujoco.2.1.2 -o derivative
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clang++ $(ALLFLAGS) basic.cc -lmujoco.2.1.2 -lglfw -o basic
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clang++ $(ALLFLAGS) record.cc -lmujoco.2.1.2 -lglfw -o record
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clang++ $(ALLFLAGS) testxml.cc -lmujoco.2.1.3 -o testxml
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clang++ $(ALLFLAGS) testspeed.cc -lmujoco.2.1.3 -o testspeed
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clang++ $(ALLFLAGS) compile.cc -lmujoco.2.1.3 -o compile
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clang++ $(ALLFLAGS) derivative.cc -lmujoco.2.1.3 -o derivative
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clang++ $(ALLFLAGS) basic.cc -lmujoco.2.1.3 -lglfw -o basic
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clang++ $(ALLFLAGS) record.cc -lmujoco.2.1.3 -lglfw -o record
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clang -c $(CFLAGS) uitools.c
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clang++ $(ALLFLAGS) uitools.o simulate.cc -lmujoco.2.1.2 -lglfw -o simulate
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clang++ $(ALLFLAGS) uitools.o simulate.cc -lmujoco.2.1.3 -lglfw -o simulate
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rm *.o
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@@ -35,7 +35,7 @@ public class MujocoBinaryRetriever {
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if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/mujoco.dylib") == null) {
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File.Copy(
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"/Applications/MuJoCo.app/Contents/Frameworks" +
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"/MuJoCo.framework/Versions/Current/libmujoco.2.1.2.dylib",
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"/MuJoCo.framework/Versions/Current/libmujoco.2.1.3.dylib",
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mujocoPath + "/mujoco.dylib");
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AssetDatabase.Refresh();
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}
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@@ -43,7 +43,7 @@ public class MujocoBinaryRetriever {
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if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/libmujoco.so") == null) {
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File.Copy(
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Environment.GetFolderPath(Environment.SpecialFolder.UserProfile) +
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"/.mujoco/mujoco-2.1.2/lib/libmujoco_nogl.so.2.1.2",
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"/.mujoco/mujoco-2.1.3/lib/libmujoco_nogl.so.2.1.3",
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mujocoPath + "/libmujoco.so");
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AssetDatabase.Refresh();
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}
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@@ -83,7 +83,7 @@ public const int mjMAXOVERLAY = 500;
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public const int mjMAXLINE = 100;
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public const int mjMAXLINEPNT = 1000;
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public const int mjMAXPLANEGRID = 200;
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public const int mjVERSION_HEADER = 212;
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public const int mjVERSION_HEADER = 213;
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// ------------------------------------Enums------------------------------------
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