Bump MuJoCo version to 2.3.2.

PiperOrigin-RevId: 507720557 Change-Id: I7a5b577094ac1a7f468a84c484f62f61dc6b409f
google-deepmind · Feb 7, 2023 · dd632b7 · dd632b7
1 parent 36836d8
commit dd632b7
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Showing 21 changed files with 66 additions and 81 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -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"
 )

diff --git a/cmake/CheckAvxSupport.cmake b/cmake/CheckAvxSupport.cmake
@@ -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()

diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
@@ -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."
 )
 

diff --git a/cmake/MujocoOptions.cmake b/cmake/MujocoOptions.cmake
@@ -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()
 

diff --git a/dist/mujoco.rc b/dist/mujoco.rc
@@ -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"

diff --git a/dist/simulate.rc b/dist/simulate.rc
@@ -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"

diff --git a/doc/changelog.rst b/doc/changelog.rst
@@ -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)

diff --git 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.2.3.1.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
 _______

diff --git 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 231
+#define mjVERSION_HEADER 232
 
 // needed to define size_t, fabs and log10
 #include <stdlib.h>

diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt
@@ -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

diff --git a/python/setup.py b/python/setup.py
@@ -30,7 +30,7 @@
 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'

diff --git a/sample/CMakeLists.txt b/sample/CMakeLists.txt
@@ -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"
 )

diff --git a/sample/cmake/CheckAvxSupport.cmake b/sample/cmake/CheckAvxSupport.cmake
@@ -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()

diff --git a/sample/cmake/SampleOptions.cmake b/sample/cmake/SampleOptions.cmake
@@ -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()
 

diff --git a/simulate/CMakeLists.txt b/simulate/CMakeLists.txt
@@ -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"
 )

diff --git a/simulate/cmake/CheckAvxSupport.cmake b/simulate/cmake/CheckAvxSupport.cmake
@@ -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()

diff --git a/simulate/cmake/SimulateOptions.cmake b/simulate/cmake/SimulateOptions.cmake
@@ -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()
 

diff --git a/src/engine/engine_support.c b/src/engine/engine_support.c
@@ -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] = {

diff --git a/unity/Editor/Bindings/MujocoBinaryRetriever.cs b/unity/Editor/Bindings/MujocoBinaryRetriever.cs
@@ -37,15 +37,15 @@ static void RegisteredPackagesEventHandler(
           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();
           }
         } else if (RuntimeInformation.IsOSPlatform(OSPlatform.Linux)) {
           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();
           }

diff --git 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 = 231;
+public const int mjVERSION_HEADER = 232;
 
 
 // ------------------------------------Enums------------------------------------

diff --git a/unity/package.json b/unity/package.json
@@ -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": {