From 33a2ce73d45dad07521b0960e12ba0aa54c27dfe Mon Sep 17 00:00:00 2001 From: Nimrod Gileadi Date: Mon, 20 Mar 2023 04:35:30 -0700 Subject: [PATCH] Update MuJoCo version to 2.3.3. PiperOrigin-RevId: 517931617 Change-Id: I7c9960290f1b6e5d5f68a54df617a580f23c57e9 --- CMakeLists.txt | 2 +- dist/mujoco.rc | 8 ++++---- dist/simulate.rc | 8 ++++---- doc/unity.rst | 4 ++-- include/mujoco/mujoco.h | 2 +- python/mujoco/CMakeLists.txt | 4 ++-- python/mujoco/mjpython/Info.plist | 8 ++++---- python/setup.py | 2 +- sample/CMakeLists.txt | 2 +- simulate/CMakeLists.txt | 2 +- src/engine/engine_support.c | 4 ++-- unity/Editor/Bindings/MujocoBinaryRetriever.cs | 4 ++-- unity/Runtime/Bindings/MjBindings.cs | 2 +- unity/package.json | 2 +- 14 files changed, 27 insertions(+), 27 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index e34b07ead0..43ffb53351 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -28,7 +28,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON) project( mujoco - VERSION 2.3.2 + VERSION 2.3.3 DESCRIPTION "MuJoCo Physics Simulator" HOMEPAGE_URL "https://mujoco.org" ) diff --git a/dist/mujoco.rc b/dist/mujoco.rc index d07955a747..db0430eae0 100644 --- a/dist/mujoco.rc +++ b/dist/mujoco.rc @@ -1,6 +1,6 @@ 1 VERSIONINFO -FILEVERSION 2,3,2,0 -PRODUCTVERSION 2,3,2,0 +FILEVERSION 2,3,3,0 +PRODUCTVERSION 2,3,3,0 FILEOS 0x4 FILETYPE 0x1 { @@ -9,9 +9,9 @@ FILETYPE 0x1 BLOCK "040904b0" { VALUE "ProductName", "MuJoCo" - VALUE "ProductVersion", "2.3.2" + VALUE "ProductVersion", "2.3.3" VALUE "FileDescription", "MuJoCo" - VALUE "FileVersion", "2.3.2" + VALUE "FileVersion", "2.3.3" VALUE "InternalName", "mujoco.dll" VALUE "OriginalFilename", "mujoco.dll" VALUE "CompanyName", "DeepMind" diff --git a/dist/simulate.rc b/dist/simulate.rc index 19e31e2cf0..83584eab4c 100644 --- a/dist/simulate.rc +++ b/dist/simulate.rc @@ -1,8 +1,8 @@ MUJOCO ICON "mujoco.ico" 1 VERSIONINFO -FILEVERSION 2,3,2,0 -PRODUCTVERSION 2,3,2,0 +FILEVERSION 2,3,3,0 +PRODUCTVERSION 2,3,3,0 FILEOS 0x4 FILETYPE 0x1 { @@ -11,9 +11,9 @@ FILETYPE 0x1 BLOCK "040904b0" { VALUE "ProductName", "MuJoCo" - VALUE "ProductVersion", "2.3.2" + VALUE "ProductVersion", "2.3.3" VALUE "FileDescription", "MuJoCo" - VALUE "FileVersion", "2.3.2" + VALUE "FileVersion", "2.3.3" VALUE "InternalName", "simulate.exe" VALUE "OriginalFilename", "simulate.exe" VALUE "CompanyName", "DeepMind" diff --git a/doc/unity.rst b/doc/unity.rst index 8d8aa3f393..1a37d283d0 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.2.3.2.dylib`` (it can be +``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.2.3.3.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-2.3.2/lib/libmujoco.so.2.3.2`` and rename it as ``libmujoco.so``. +``~/.mujoco/mujoco-2.3.3/lib/libmujoco.so.2.3.3`` and rename it as ``libmujoco.so``. Windows _______ diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h index 587cf7b9db..7583992a9c 100644 --- a/include/mujoco/mujoco.h +++ b/include/mujoco/mujoco.h @@ -24,7 +24,7 @@ extern "C" { #endif // header version; should match the library version as returned by mj_version() -#define mjVERSION_HEADER 232 +#define mjVERSION_HEADER 233 // needed to define size_t, fabs and log10 #include diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt index c8c32aa55e..9423f1397f 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.2.3.2.dylib + ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.2.3.3.dylib ) target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK}) endif() @@ -92,7 +92,7 @@ if(NOT TARGET mujoco) if(NOT MUJOCO_FRAMEWORK) find_library( - MUJOCO_LIBRARY mujoco mujoco.2.3.2 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED + MUJOCO_LIBRARY mujoco mujoco.2.3.3 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 7503ffb988..6618eef082 100644 --- a/python/mujoco/mjpython/Info.plist +++ b/python/mujoco/mjpython/Info.plist @@ -7,13 +7,13 @@ CFBundleIdentifier org.mujoco.mjpython CFBundleVersion - 2.3.2 + 2.3.3 CFBundleGetInfoString - 2.3.2 + 2.3.3 CFBundleLongVersionString - 2.3.2 + 2.3.3 CFBundleShortVersionString - 2.3.2 + 2.3.3 CFBundleExecutable mjpython CFBundleIconFile diff --git a/python/setup.py b/python/setup.py index 656cf48207..4a4f1ee9f5 100644 --- a/python/setup.py +++ b/python/setup.py @@ -32,7 +32,7 @@ from setuptools.command import build_ext from setuptools.command import install_scripts -__version__ = '2.3.2' +__version__ = '2.3.3' MUJOCO_CMAKE = 'MUJOCO_CMAKE' MUJOCO_CMAKE_ARGS = 'MUJOCO_CMAKE_ARGS' diff --git a/sample/CMakeLists.txt b/sample/CMakeLists.txt index 0f04853b8e..8a8169663b 100644 --- a/sample/CMakeLists.txt +++ b/sample/CMakeLists.txt @@ -24,7 +24,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON) project( mujoco_samples - VERSION 2.3.2 + VERSION 2.3.3 DESCRIPTION "MuJoCo samples binaries" HOMEPAGE_URL "https://mujoco.org" ) diff --git a/simulate/CMakeLists.txt b/simulate/CMakeLists.txt index b58716a7f3..80a7b06c3d 100644 --- a/simulate/CMakeLists.txt +++ b/simulate/CMakeLists.txt @@ -29,7 +29,7 @@ set(MUJOCO_DEP_VERSION_lodepng project( mujoco_simulate - VERSION 2.3.2 + VERSION 2.3.3 DESCRIPTION "MuJoCo simulate binaries" HOMEPAGE_URL "https://mujoco.org" ) diff --git a/src/engine/engine_support.c b/src/engine/engine_support.c index 1e5a75c4c0..be3c665c6d 100644 --- a/src/engine/engine_support.c +++ b/src/engine/engine_support.c @@ -36,8 +36,8 @@ #endif #endif -#define mjVERSION 232 -#define mjVERSIONSTRING "2.3.2" +#define mjVERSION 233 +#define mjVERSIONSTRING "2.3.3" // names of disable flags const char* mjDISABLESTRING[mjNDISABLE] = { diff --git a/unity/Editor/Bindings/MujocoBinaryRetriever.cs b/unity/Editor/Bindings/MujocoBinaryRetriever.cs index cf1c904c20..06581fa0cc 100644 --- a/unity/Editor/Bindings/MujocoBinaryRetriever.cs +++ b/unity/Editor/Bindings/MujocoBinaryRetriever.cs @@ -37,7 +37,7 @@ static void RegisteredPackagesEventHandler( if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/mujoco.dylib") == null) { File.Copy( "/Applications/MuJoCo.app/Contents/Frameworks" + - "/mujoco.framework/Versions/Current/libmujoco.2.3.2.dylib", + "/mujoco.framework/Versions/Current/libmujoco.2.3.3.dylib", mujocoPath + "/mujoco.dylib"); AssetDatabase.Refresh(); } @@ -45,7 +45,7 @@ static void RegisteredPackagesEventHandler( if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/libmujoco.so") == null) { File.Copy( Environment.GetFolderPath(Environment.SpecialFolder.UserProfile) + - "/.mujoco/mujoco-2.3.2/lib/libmujoco.so.2.3.2", + "/.mujoco/mujoco-2.3.3/lib/libmujoco.so.2.3.3", mujocoPath + "/libmujoco.so"); AssetDatabase.Refresh(); } diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs index e7666ec326..574661fccb 100644 --- a/unity/Runtime/Bindings/MjBindings.cs +++ b/unity/Runtime/Bindings/MjBindings.cs @@ -101,7 +101,7 @@ public static class MujocoLib { 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 = 232; +public const int mjVERSION_HEADER = 233; // ------------------------------------Enums------------------------------------ diff --git a/unity/package.json b/unity/package.json index 21832ea910..cab3ade1f8 100644 --- a/unity/package.json +++ b/unity/package.json @@ -1,7 +1,7 @@ { "name": "org.mujoco", "displayName": "MuJoCo", - "version": "2.3.2", + "version": "2.3.3", "description": "MuJoCo importer and runtime plug-in", "dependencies": {}, "author": {