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Update MuJoCo to version 2.1.3.

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PiperOrigin-RevId: 436727767
Change-Id: I9b1b0084021e83f790efa46eab9a980cbde4953f
This commit is contained in:
Nimrod Gileadi
2022-03-23 07:00:52 -07:00
committed by Saran Tunyasuvunakool
parent d1db62c6bd
commit df048e54c0
9 changed files with 41 additions and 19 deletions
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doc/changelog.rst
+24 -2
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@@ -2,6 +2,28 @@
Changelog Changelog
========= =========
Version 2.1.3 (Mar. 23, 2022)
-----------------------------
General
^^^^^^^
1. ``simulate`` now support cycling through cameras (with ``[`` and ``]`` keys).
#. ``mjVIS_STATIC`` toggles all static bodies, not just direct children of the world.
Python bindings
^^^^^^^^^^^^^^^
3. Add a ``free()`` method to ``MjrContext``.
#. Enums now support arithmetic and bitwise operations with numbers.
Bug fixes
^^^^^^^^^
5. Fix rendering bug for planes, introduced in 2.1.2. This broke maze environments in
`dm_control <https://github.com/deepmind/dm_control>`_.
Version 2.1.2 (Mar. 15, 2022) Version 2.1.2 (Mar. 15, 2022)
----------------------------- -----------------------------
@@ -76,7 +98,7 @@ General
attribute: ``<geom fluidshape="ellipsoid"/>``. The parameters are described succinctly :ref:`here<geom>`, but we attribute: ``<geom fluidshape="ellipsoid"/>``. The parameters are described succinctly :ref:`here<geom>`, but we
leave a full description or the model and its parameters to when this feature leaves experimental status. leave a full description or the model and its parameters to when this feature leaves experimental status.
Bug Fixes Bug fixes
^^^^^^^^^ ^^^^^^^^^
16. ``mj_loadXML`` and ``mj_saveLastXML`` are now locale-independent. The Unity plugin should now work correctly for 16. ``mj_loadXML`` and ``mj_saveLastXML`` are now locale-independent. The Unity plugin should now work correctly for
@@ -247,7 +269,7 @@ License manager
backward compabitibily, but now they do nothing and it is no longer necessary to call them. backward compabitibily, but now they do nothing and it is no longer necessary to call them.
#. Removed the remote license certificate functions ``mj_certXXX``. #. Removed the remote license certificate functions ``mj_certXXX``.
Earlier Versions Earlier versions
---------------- ----------------
For changelogs of earlier versions please see `roboti.us <https://www.roboti.us/download.html>`_. For changelogs of earlier versions please see `roboti.us <https://www.roboti.us/download.html>`_.
doc/python.rst
+1 -1
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@@ -18,7 +18,7 @@ DeepMind’s `dm_control <https://github.com/deepmind/dm_control>`__ reinforceme
version 1.0.0 implemented its own MuJoCo bindings based on ``ctypes``) has been updated to depend on the ``mujoco`` version 1.0.0 implemented its own MuJoCo bindings based on ``ctypes``) has been updated to depend on the ``mujoco``
package and continues to be supported by DeepMind. Changes in dm_control should be largely transparent to users of package and continues to be supported by DeepMind. Changes in dm_control should be largely transparent to users of
previous versions, however code that depended directly on its low-level API may need to be updated. Consult the previous versions, however code that depended directly on its low-level API may need to be updated. Consult the
`migration guide <https://github.com/deepmind/dm_control/blob/main/migration_guide_1.0.md>`__ for detail. `migration guide <https://github.com/deepmind/dm_control/blob/master/migration_guide_1.0.md>`__ for detail.
For mujoco-py users, we include :ref:`notes <PyMjpy_migration>` below to aid migration. For mujoco-py users, we include :ref:`notes <PyMjpy_migration>` below to aid migration.
include/mujoco.h
+1 -1
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@@ -24,7 +24,7 @@ extern "C" {
#endif #endif
// header version; should match the library version as returned by mj_version() // header version; should match the library version as returned by mj_version()
#define mjVERSION_HEADER 212 #define mjVERSION_HEADER 213
// needed to define size_t, fabs and log10 // needed to define size_t, fabs and log10
#include "stdlib.h" #include "stdlib.h"
python/mujoco/CMakeLists.txt
+2 -2
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@@ -55,7 +55,7 @@ include(FindOrFetch)
# ==================== MUJOCO LIBRARY ========================================== # ==================== MUJOCO LIBRARY ==========================================
if(NOT TARGET mujoco) if(NOT TARGET mujoco)
find_library(MUJOCO_LIBRARY mujoco mujoco.2.1.2 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED) find_library(MUJOCO_LIBRARY mujoco mujoco.2.1.3 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED)
find_path(MUJOCO_INCLUDE mujoco.h HINTS ${MUJOCO_INCLUDE_DIR} REQUIRED) find_path(MUJOCO_INCLUDE mujoco.h HINTS ${MUJOCO_INCLUDE_DIR} REQUIRED)
message("MuJoCo is at ${MUJOCO_LIBRARY}") message("MuJoCo is at ${MUJOCO_LIBRARY}")
message("MuJoCo headers are at ${MUJOCO_INCLUDE}") message("MuJoCo headers are at ${MUJOCO_INCLUDE}")
@@ -152,7 +152,7 @@ else()
GIT_REPO GIT_REPO
https://github.com/pybind/pybind11 https://github.com/pybind/pybind11
GIT_TAG GIT_TAG
4c4b33f14215f8992e2c67ace2a7a4c114c48bb9 08ea85b0ac0d4d46ac081ff24f481b41322d7159
TARGETS TARGETS
pybind11::pybind11_headers pybind11::pybind11_headers
EXCLUDE_FROM_ALL EXCLUDE_FROM_ALL
python/mujoco/__init__.py
+2 -2
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@@ -41,11 +41,11 @@ if _SYSTEM == 'Linux':
ctypes.CDLL(os.path.join(os.path.dirname(__file__), libglew_name), ctypes.CDLL(os.path.join(os.path.dirname(__file__), libglew_name),
ctypes.RTLD_GLOBAL) ctypes.RTLD_GLOBAL)
ctypes.CDLL( ctypes.CDLL(
os.path.join(os.path.dirname(__file__), 'libmujoco.so.2.1.2'), os.path.join(os.path.dirname(__file__), 'libmujoco.so.2.1.3'),
ctypes.RTLD_GLOBAL) ctypes.RTLD_GLOBAL)
else: else:
ctypes.CDLL( ctypes.CDLL(
os.path.join(os.path.dirname(__file__), 'libmujoco_nogl.so.2.1.2'), os.path.join(os.path.dirname(__file__), 'libmujoco_nogl.so.2.1.3'),
ctypes.RTLD_GLOBAL) ctypes.RTLD_GLOBAL)
elif _SYSTEM == 'Windows': elif _SYSTEM == 'Windows':
if _MUJOCO_GL in _MUJOCO_GL_ENABLE + ('glfw', 'wgl'): if _MUJOCO_GL in _MUJOCO_GL_ENABLE + ('glfw', 'wgl'):
python/setup.py
+1 -1
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@@ -30,7 +30,7 @@ from setuptools import find_packages
from setuptools import setup from setuptools import setup
from setuptools.command import build_ext from setuptools.command import build_ext
__version__ = '2.1.2.post2' __version__ = '2.1.3'
MUJOCO_CMAKE = 'MUJOCO_CMAKE' MUJOCO_CMAKE = 'MUJOCO_CMAKE'
MUJOCO_CMAKE_ARGS = 'MUJOCO_CMAKE_ARGS' MUJOCO_CMAKE_ARGS = 'MUJOCO_CMAKE_ARGS'
sample/Makefile.macos
+7 -7
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@@ -10,12 +10,12 @@ CFLAGS=-O2 -I$(MUJOCO_INCLUDEDIR) -I$(HOMEBREW)/include -pthread
ALLFLAGS=$(CFLAGS) -L$(MUJOCO_LIBDIR) -L$(HOMEBREW)/lib -std=c++11 -stdlib=libc++ ALLFLAGS=$(CFLAGS) -L$(MUJOCO_LIBDIR) -L$(HOMEBREW)/lib -std=c++11 -stdlib=libc++
all: all:
clang++ $(ALLFLAGS) testxml.cc -lmujoco.2.1.2 -o testxml clang++ $(ALLFLAGS) testxml.cc -lmujoco.2.1.3 -o testxml
clang++ $(ALLFLAGS) testspeed.cc -lmujoco.2.1.2 -o testspeed clang++ $(ALLFLAGS) testspeed.cc -lmujoco.2.1.3 -o testspeed
clang++ $(ALLFLAGS) compile.cc -lmujoco.2.1.2 -o compile clang++ $(ALLFLAGS) compile.cc -lmujoco.2.1.3 -o compile
clang++ $(ALLFLAGS) derivative.cc -lmujoco.2.1.2 -o derivative clang++ $(ALLFLAGS) derivative.cc -lmujoco.2.1.3 -o derivative
clang++ $(ALLFLAGS) basic.cc -lmujoco.2.1.2 -lglfw -o basic clang++ $(ALLFLAGS) basic.cc -lmujoco.2.1.3 -lglfw -o basic
clang++ $(ALLFLAGS) record.cc -lmujoco.2.1.2 -lglfw -o record clang++ $(ALLFLAGS) record.cc -lmujoco.2.1.3 -lglfw -o record
clang -c $(CFLAGS) uitools.c clang -c $(CFLAGS) uitools.c
clang++ $(ALLFLAGS) uitools.o simulate.cc -lmujoco.2.1.2 -lglfw -o simulate clang++ $(ALLFLAGS) uitools.o simulate.cc -lmujoco.2.1.3 -lglfw -o simulate
rm *.o rm *.o
unity/Runtime/Bindings/MujocoBinaryRetriever.cs
+2 -2
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@@ -35,7 +35,7 @@ public class MujocoBinaryRetriever {
if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/mujoco.dylib") == null) { if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/mujoco.dylib") == null) {
File.Copy( File.Copy(
"/Applications/MuJoCo.app/Contents/Frameworks" + "/Applications/MuJoCo.app/Contents/Frameworks" +
"/MuJoCo.framework/Versions/Current/libmujoco.2.1.2.dylib", "/MuJoCo.framework/Versions/Current/libmujoco.2.1.3.dylib",
mujocoPath + "/mujoco.dylib"); mujocoPath + "/mujoco.dylib");
AssetDatabase.Refresh(); AssetDatabase.Refresh();
} }
@@ -43,7 +43,7 @@ public class MujocoBinaryRetriever {
if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/libmujoco.so") == null) { if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/libmujoco.so") == null) {
File.Copy( File.Copy(
Environment.GetFolderPath(Environment.SpecialFolder.UserProfile) + Environment.GetFolderPath(Environment.SpecialFolder.UserProfile) +
"/.mujoco/mujoco-2.1.2/lib/libmujoco_nogl.so.2.1.2", "/.mujoco/mujoco-2.1.3/lib/libmujoco_nogl.so.2.1.3",
mujocoPath + "/libmujoco.so"); mujocoPath + "/libmujoco.so");
AssetDatabase.Refresh(); AssetDatabase.Refresh();
} }
unity/Runtime/Bindings/MujocoBindings.cs
+1 -1
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@@ -83,7 +83,7 @@ public const int mjMAXOVERLAY = 500;
public const int mjMAXLINE = 100; public const int mjMAXLINE = 100;
public const int mjMAXLINEPNT = 1000; public const int mjMAXLINEPNT = 1000;
public const int mjMAXPLANEGRID = 200; public const int mjMAXPLANEGRID = 200;
public const int mjVERSION_HEADER = 212; public const int mjVERSION_HEADER = 213;
// ------------------------------------Enums------------------------------------ // ------------------------------------Enums------------------------------------