From c9246e1f5006379d599e0bcddf159a8616d31441 Mon Sep 17 00:00:00 2001 From: Saran Tunyasuvunakool Date: Thu, 20 Jul 2023 02:13:05 -0700 Subject: [PATCH] Release version 2.3.7. PiperOrigin-RevId: 549565890 Change-Id: I56db138998e43637bdde86de6490a567f0f255ec --- CMakeLists.txt | 2 +- cmake/MujocoDependencies.cmake | 2 +- dist/mujoco.rc | 8 +-- dist/simulate.rc | 8 +-- doc/APIreference/APIglobals.rst | 2 +- doc/changelog.rst | 51 ++++++++-------- doc/unity.rst | 4 +- include/mujoco/mujoco.h | 2 +- python/build_requirements.txt | 60 +++++++++---------- python/make_sdist_requirements.txt | 4 +- python/mujoco/CMakeLists.txt | 8 +-- python/mujoco/mjpython/Info.plist | 8 +-- python/setup.py | 2 +- sample/CMakeLists.txt | 2 +- simulate/CMakeLists.txt | 2 +- src/engine/engine_support.c | 4 +- .../Editor/Bindings/MujocoBinaryRetriever.cs | 4 +- unity/Runtime/Bindings/MjBindings.cs | 2 +- unity/package.json | 2 +- 19 files changed, 89 insertions(+), 88 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index e229077dc2..2f04d7fc35 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -28,7 +28,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON) project( mujoco - VERSION 2.3.6 + VERSION 2.3.7 DESCRIPTION "MuJoCo Physics Simulator" HOMEPAGE_URL "https://mujoco.org" ) diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake index ded1c564da..5b44318cf4 100644 --- a/cmake/MujocoDependencies.cmake +++ b/cmake/MujocoDependencies.cmake @@ -35,7 +35,7 @@ set(MUJOCO_DEP_VERSION_qhull CACHE STRING "Version of `qhull` to be fetched." ) set(MUJOCO_DEP_VERSION_Eigen3 - 969c31eefcdfaab11da763bea3f7502086673ab0 + 211c5dfc6741a5570ad007983c113ef4d144f9f3 CACHE STRING "Version of `Eigen3` to be fetched." ) diff --git a/dist/mujoco.rc b/dist/mujoco.rc index 215cc7e570..469125368a 100644 --- a/dist/mujoco.rc +++ b/dist/mujoco.rc @@ -1,6 +1,6 @@ 1 VERSIONINFO -FILEVERSION 2,3,6,0 -PRODUCTVERSION 2,3,6,0 +FILEVERSION 2,3,7,0 +PRODUCTVERSION 2,3,7,0 FILEOS 0x4 FILETYPE 0x1 { @@ -9,9 +9,9 @@ FILETYPE 0x1 BLOCK "040904b0" { VALUE "ProductName", "MuJoCo" - VALUE "ProductVersion", "2.3.6" + VALUE "ProductVersion", "2.3.7" VALUE "FileDescription", "MuJoCo" - VALUE "FileVersion", "2.3.6" + VALUE "FileVersion", "2.3.7" VALUE "InternalName", "mujoco.dll" VALUE "OriginalFilename", "mujoco.dll" VALUE "CompanyName", "Google DeepMind" diff --git a/dist/simulate.rc b/dist/simulate.rc index a02a0825a4..16ba6843d4 100644 --- a/dist/simulate.rc +++ b/dist/simulate.rc @@ -1,8 +1,8 @@ MUJOCO ICON "mujoco.ico" 1 VERSIONINFO -FILEVERSION 2,3,6,0 -PRODUCTVERSION 2,3,6,0 +FILEVERSION 2,3,7,0 +PRODUCTVERSION 2,3,7,0 FILEOS 0x4 FILETYPE 0x1 { @@ -11,9 +11,9 @@ FILETYPE 0x1 BLOCK "040904b0" { VALUE "ProductName", "MuJoCo" - VALUE "ProductVersion", "2.3.6" + VALUE "ProductVersion", "2.3.7" VALUE "FileDescription", "MuJoCo" - VALUE "FileVersion", "2.3.6" + VALUE "FileVersion", "2.3.7" VALUE "InternalName", "simulate.exe" VALUE "OriginalFilename", "simulate.exe" VALUE "CompanyName", "Google DeepMind" diff --git a/doc/APIreference/APIglobals.rst b/doc/APIreference/APIglobals.rst index 8e86f0359b..c13a96ab4a 100644 --- a/doc/APIreference/APIglobals.rst +++ b/doc/APIreference/APIglobals.rst @@ -512,7 +512,7 @@ table below. Their names are in the format ``mjKEY_XXX``. They correspond to GLF - Maximum number of UI rectangles. Defined in `mjui.h `_. * - ``mjVERSION_HEADER`` - - 236 + - 237 - The version of the MuJoCo headers; changes with every release. This is an integer equal to 100x the software version, so 210 corresponds to version 2.1. Defined in mujoco.h. The API function :ref:`mj_version` returns a number with the same meaning but for the compiled library. diff --git a/doc/changelog.rst b/doc/changelog.rst index 3da3917923..e0b4ca83f0 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -2,43 +2,44 @@ Changelog ========= -Upcoming version (not yet released) ------------------------------------ +Version 2.3.7 (July 20, 2023) +----------------------------- General ^^^^^^^ -- Added primitive collider for sphere-cylinder contacts, previously this pair used the generic convex-convex collider. -- Added :ref:`joint-actuatorforcerange` for clamping total actuator force at joints and - :ref:`sensor-jointactuatorfrc` for measuring total actuation force applied at a joint. The - most important use case for joint-level actuator force clamping is to ensure that - :ref:`Cartesian actuator` forces are realizable by individual motors at the joints. - See :ref:`CForceRange` for details. -- Added an optional ``content_type`` attribute to hfield, texture, and mesh assets. This attribute supports a formatted - `Media Type `_ (previously known as MIME type) string - used to determine the type of the asset file without resorting to pulling the type from the file extension. -- Added analytic derivatives for quaternion :ref:`subtraction` and :ref:`integration` - (rotation with an angular velocity). Derivatives are in the 3D tangent space. -- Added :ref:`mjv_connector` which has identical functionality to :ref:`mjv_makeConnector`, but with more convenient - "from-to" argument parametrization. :ref:`mjv_makeConnector` is now deprecated. -- Bumped oldest supported MacOS from version 10.12 to 11. MacOS 11 is the oldest version still maintained by Apple. +1. Added primitive collider for sphere-cylinder contacts, previously this pair used the generic convex-convex collider. +#. Added :ref:`joint-actuatorforcerange` for clamping total actuator force at joints and + :ref:`sensor-jointactuatorfrc` for measuring total actuation force applied at a joint. The + most important use case for joint-level actuator force clamping is to ensure that + :ref:`Cartesian actuator` forces are realizable by individual motors at the joints. + See :ref:`CForceRange` for details. +#. Added an optional ``content_type`` attribute to hfield, texture, and mesh assets. This attribute supports a formatted + `Media Type `_ (previously known as MIME type) string + used to determine the type of the asset file without resorting to pulling the type from the file extension. +#. Added analytic derivatives for quaternion :ref:`subtraction` and :ref:`integration` + (rotation with an angular velocity). Derivatives are in the 3D tangent space. +#. Added :ref:`mjv_connector` which has identical functionality to :ref:`mjv_makeConnector`, but with more convenient + "from-to" argument parametrization. :ref:`mjv_makeConnector` is now deprecated. +#. Bumped oldest supported MacOS from version 10.12 to 11. MacOS 11 is the oldest version still maintained by Apple. Python bindings ^^^^^^^^^^^^^^^ -- The :ref:`passive viewer` handle now exposes ``update_hfield``, ``update_mesh``, and - ``update_texture`` methods to allow users to update renderable assets. - (`#812 `_, `#958 `_, - `#965 `_) -- Allow a custom keyboard event callback to be specified in the :ref:`passive viewer`. - (`#766 `_) -- Fix GLFW crash when Python exits while the passive viewer is running. - (`#790 `_) +7. The :ref:`passive viewer` handle now exposes ``update_hfield``, ``update_mesh``, and + ``update_texture`` methods to allow users to update renderable assets. + (`#812 `_, `#958 `_, + `#965 `_) +#. Allow a custom keyboard event callback to be specified in the :ref:`passive viewer`. + (`#766 `_) +#. Fix GLFW crash when Python exits while the passive viewer is running. + (`#790 `_) Models ^^^^^^ -- Added simple `car `__ example model. +10. Added simple `car `__ example model. + Version 2.3.6 (June 20, 2023) ----------------------------- diff --git a/doc/unity.rst b/doc/unity.rst index 0a94f867d7..c5d64731eb 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.2.3.6.dylib`` (it can be +``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.2.3.7.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-2.3.6/lib/libmujoco.so.2.3.6`` and rename it as ``libmujoco.so``. +``~/.mujoco/mujoco-2.3.7/lib/libmujoco.so.2.3.7`` and rename it as ``libmujoco.so``. Windows _______ diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h index 0b5dc24acb..6c84d8e6f3 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 236 +#define mjVERSION_HEADER 237 // needed to define size_t, fabs and log10 #include diff --git a/python/build_requirements.txt b/python/build_requirements.txt index 292ae63be2..b660bb9e86 100644 --- a/python/build_requirements.txt +++ b/python/build_requirements.txt @@ -1,33 +1,33 @@ auditwheel==5.4.0 \ --hash=sha256:d8410a17523427ba3f7b60c9701d23de28b8f94fa5dab732aa6c30d160df8127 -numpy==1.24.3; python_version == '3.8' \ - --hash=sha256:56e48aec79ae238f6e4395886b5eaed058abb7231fb3361ddd7bfdf4eed54289 \ - --hash=sha256:4749e053a29364d3452c034827102ee100986903263e89884922ef01a0a6fd2f \ - --hash=sha256:ecde0f8adef7dfdec993fd54b0f78183051b6580f606111a6d789cd14c61ea0c \ - --hash=sha256:ae8d0be48d1b6ed82588934aaaa179875e7dc4f3d84da18d7eae6eb3f06c242c \ - --hash=sha256:7776ea65423ca6a15255ba1872d82d207bd1e09f6d0894ee4a64678dd2204078 -numpy==1.25.0; python_version >= '3.9' \ - --hash=sha256:b76aa836a952059d70a2788a2d98cb2a533ccd46222558b6970348939e55fc24 \ - --hash=sha256:e559c6afbca484072a98a51b6fa466aae785cfe89b69e8b856c3191bc8872a82 \ - --hash=sha256:ecc68f11404930e9c7ecfc937aa423e1e50158317bf67ca91736a9864eae0232 \ - --hash=sha256:9c7211d7920b97aeca7b3773a6783492b5b93baba39e7c36054f6e749fc7490c \ - --hash=sha256:4c69fe5f05eea336b7a740e114dec995e2f927003c30702d896892403df6dbf0 \ - --hash=sha256:c0dc071017bc00abb7d7201bac06fa80333c6314477b3d10b52b58fa6a6e38f6 \ - --hash=sha256:4aedd08f15d3045a4e9c648f1e04daca2ab1044256959f1f95aafeeb3d794c16 \ - --hash=sha256:d6b267f349a99d3908b56645eebf340cb58f01bd1e773b4eea1a905b3f0e4208 \ - --hash=sha256:9e3f2b96e3b63c978bc29daaa3700c028fe3f049ea3031b58aa33fe2a5809d24 \ - --hash=sha256:8aa130c3042052d656751df5e81f6d61edff3e289b5994edcf77f54118a8d9f4 \ - --hash=sha256:26815c6c8498dc49d81faa76d61078c4f9f0859ce7817919021b9eba72b425e3 \ - --hash=sha256:5177310ac2e63d6603f659fadc1e7bab33dd5a8db4e0596df34214eeab0fee3b \ - --hash=sha256:5aa48bebfb41f93043a796128854b84407d4df730d3fb6e5dc36402f5cd594c0 \ - --hash=sha256:7cd981ccc0afe49b9883f14761bb57c964df71124dcd155b0cba2b591f0d64b9 \ - --hash=sha256:b792164e539d99d93e4e5e09ae10f8cbe5466de7d759fc155e075237e0c274e4 \ -pip==23.1.2 \ - --hash=sha256:3ef6ac33239e4027d9a5598a381b9d30880a1477e50039db2eac6e8a8f6d1b18 +numpy==1.24.4; python_version == '3.8' \ + --hash=sha256:692f2e0f55794943c5bfff12b3f56f99af76f902fc47487bdfe97856de51a706 \ + --hash=sha256:dd80e219fd4c71fc3699fc1dadac5dcf4fd882bfc6f7ec53d30fa197b8ee22dc \ + --hash=sha256:a5425b114831d1e77e4b5d812b69d11d962e104095a5b9c3b641a218abcc050e \ + --hash=sha256:04640dab83f7c6c85abf9cd729c5b65f1ebd0ccf9de90b270cd61935eef0197f \ + --hash=sha256:1452241c290f3e2a312c137a9999cdbf63f78864d63c79039bda65ee86943f61 +numpy==1.25.1; python_version >= '3.9' \ + --hash=sha256:c40571fe966393b212689aa17e32ed905924120737194b5d5c1b20b9ed0fb171 \ + --hash=sha256:d5154b1a25ec796b1aee12ac1b22f414f94752c5f94832f14d8d6c9ac40bcca6 \ + --hash=sha256:41a56b70e8139884eccb2f733c2f7378af06c82304959e174f8e7370af112e09 \ + --hash=sha256:e8f6049c4878cb16960fbbfb22105e49d13d752d4d8371b55110941fb3b17800 \ + --hash=sha256:6b82655dd8efeea69dbf85d00fca40013d7f503212bc5259056244961268b66e \ + --hash=sha256:c1516db588987450b85595586605742879e50dcce923e8973f79529651545b57 \ + --hash=sha256:6c6c9261d21e617c6dc5eacba35cb68ec36bb72adcff0dee63f8fbc899362588 \ + --hash=sha256:4a90725800caeaa160732d6b31f3f843ebd45d6b5f3eec9e8cc287e30f2805bf \ + --hash=sha256:d736b75c3f2cb96843a5c7f8d8ccc414768d34b0a75f466c05f3a739b406f10b \ + --hash=sha256:77d339465dff3eb33c701430bcb9c325b60354698340229e1dff97745e6b3efa \ + --hash=sha256:1d5d3c68e443c90b38fdf8ef40e60e2538a27548b39b12b73132456847f4b631 \ + --hash=sha256:20e1266411120a4f16fad8efa8e0454d21d00b8c7cee5b5ccad7565d95eb42dd \ + --hash=sha256:d412c1697c3853c6fc3cb9751b4915859c7afe6a277c2bf00acf287d56c4e625 \ + --hash=sha256:1a180429394f81c7933634ae49b37b472d343cccb5bb0c4a575ac8bbc433722f \ + --hash=sha256:3d7abcdd85aea3e6cdddb59af2350c7ab1ed764397f8eec97a038ad244d2d105 \ +pip==23.2 \ + --hash=sha256:78e5353a9dda374b462f2054f83a7b63f3f065c98236a68361845c1b0ee7e35f PyOpenGL==3.1.7 \ --hash=sha256:a6ab19cf290df6101aaf7470843a9c46207789855746399d0af92521a0a92b7a -pytest==7.3.2 \ - --hash=sha256:cdcbd012c9312258922f8cd3f1b62a6580fdced17db6014896053d47cddf9295 +pytest==7.4.0 \ + --hash=sha256:78bf16451a2eb8c7a2ea98e32dc119fd2aa758f1d5d66dbf0a59d69a3969df32 setuptools==68.0.0 \ --hash=sha256:11e52c67415a381d10d6b462ced9cfb97066179f0e871399e006c4ab101fc85f wheel==0.40.0 \ @@ -42,14 +42,14 @@ attrs==23.1.0 \ --hash=sha256:1f28b4522cdc2fb4256ac1a020c78acf9cba2c6b461ccd2c126f3aa8e8335d04 colorama==0.4.6 \ --hash=sha256:4f1d9991f5acc0ca119f9d443620b77f9d6b33703e51011c16baf57afb285fc6 -exceptiongroup==1.1.1; python_version < '3.11' \ - --hash=sha256:232c37c63e4f682982c8b6459f33a8981039e5fb8756b2074364e5055c498c9e +exceptiongroup==1.1.2; python_version < '3.11' \ + --hash=sha256:e346e69d186172ca7cf029c8c1d16235aa0e04035e5750b4b95039e65204328f iniconfig==2.0.0 \ --hash=sha256:b6a85871a79d2e3b22d2d1b94ac2824226a63c6b741c88f7ae975f18b6778374 packaging==23.1 \ --hash=sha256:994793af429502c4ea2ebf6bf664629d07c1a9fe974af92966e4b8d2df7edc61 -pluggy==1.0.0 \ - --hash=sha256:74134bbf457f031a36d68416e1509f34bd5ccc019f0bcc952c7b909d06b37bd3 +pluggy==1.2.0 \ + --hash=sha256:c2fd55a7d7a3863cba1a013e4e2414658b1d07b6bc57b3919e0c63c9abb99849 pyparsing==3.1.0 \ --hash=sha256:d554a96d1a7d3ddaf7183104485bc19fd80543ad6ac5bdb6426719d766fb06c1 tomli==2.0.1; python_version < '3.11' \ diff --git a/python/make_sdist_requirements.txt b/python/make_sdist_requirements.txt index 5d18f2c097..ba5f6d9d0c 100644 --- a/python/make_sdist_requirements.txt +++ b/python/make_sdist_requirements.txt @@ -1,6 +1,6 @@ absl-py==1.4.0 \ --hash=sha256:0d3fe606adfa4f7db64792dd4c7aee4ee0c38ab75dfd353b7a83ed3e957fcb47 -pip==23.1.2 \ - --hash=sha256:3ef6ac33239e4027d9a5598a381b9d30880a1477e50039db2eac6e8a8f6d1b18 +pip==23.2 \ + --hash=sha256:78e5353a9dda374b462f2054f83a7b63f3f065c98236a68361845c1b0ee7e35f setuptools==68.0.0 \ --hash=sha256:11e52c67415a381d10d6b462ced9cfb97066179f0e871399e006c4ab101fc85f diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt index 6b71664bc6..34266aeb3c 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.2.3.6.dylib + ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.2.3.7.dylib ) target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK}) endif() @@ -92,7 +92,7 @@ if(NOT TARGET mujoco) if(NOT MUJOCO_FRAMEWORK) find_library( - MUJOCO_LIBRARY mujoco mujoco.2.3.6 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED + MUJOCO_LIBRARY mujoco mujoco.2.3.7 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED ) find_path(MUJOCO_INCLUDE mujoco/mujoco.h HINTS ${MUJOCO_INCLUDE_DIR} REQUIRED) message("MuJoCo is at ${MUJOCO_LIBRARY}") @@ -173,7 +173,7 @@ findorfetch( GIT_REPO https://gitlab.com/libeigen/eigen GIT_TAG - 969c31eefcdfaab11da763bea3f7502086673ab0 + 211c5dfc6741a5570ad007983c113ef4d144f9f3 TARGETS Eigen3::Eigen EXCLUDE_FROM_ALL @@ -190,7 +190,7 @@ findorfetch( GIT_REPO https://github.com/pybind/pybind11 GIT_TAG - 5b0a6fc2017fcc176545afe3e09c9f9885283242 # v2.10.4 + 8a099e44b3d5f85b20f05828d919d2332a8de841 # v2.11.1 TARGETS pybind11::pybind11_headers EXCLUDE_FROM_ALL diff --git a/python/mujoco/mjpython/Info.plist b/python/mujoco/mjpython/Info.plist index 8d0f465c5b..bef25fa58e 100644 --- a/python/mujoco/mjpython/Info.plist +++ b/python/mujoco/mjpython/Info.plist @@ -7,13 +7,13 @@ CFBundleIdentifier org.mujoco.mjpython CFBundleVersion - 2.3.6 + 2.3.7 CFBundleGetInfoString - 2.3.6 + 2.3.7 CFBundleLongVersionString - 2.3.6 + 2.3.7 CFBundleShortVersionString - 2.3.6 + 2.3.7 CFBundleExecutable mjpython CFBundleIconFile diff --git a/python/setup.py b/python/setup.py index dbb079a5fd..83517a7f76 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__ = '2.3.6' +__version__ = '2.3.7' MUJOCO_CMAKE = 'MUJOCO_CMAKE' MUJOCO_CMAKE_ARGS = 'MUJOCO_CMAKE_ARGS' diff --git a/sample/CMakeLists.txt b/sample/CMakeLists.txt index b9942828fe..be1d7b24dc 100644 --- a/sample/CMakeLists.txt +++ b/sample/CMakeLists.txt @@ -24,7 +24,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON) project( mujoco_samples - VERSION 2.3.6 + VERSION 2.3.7 DESCRIPTION "MuJoCo samples binaries" HOMEPAGE_URL "https://mujoco.org" ) diff --git a/simulate/CMakeLists.txt b/simulate/CMakeLists.txt index f20013f396..d00c5c3638 100644 --- a/simulate/CMakeLists.txt +++ b/simulate/CMakeLists.txt @@ -29,7 +29,7 @@ set(MUJOCO_DEP_VERSION_lodepng project( mujoco_simulate - VERSION 2.3.6 + VERSION 2.3.7 DESCRIPTION "MuJoCo simulate binaries" HOMEPAGE_URL "https://mujoco.org" ) diff --git a/src/engine/engine_support.c b/src/engine/engine_support.c index 96f3ecd951..f1ea6dd5fe 100644 --- a/src/engine/engine_support.c +++ b/src/engine/engine_support.c @@ -38,8 +38,8 @@ //-------------------------- Constants ------------------------------------------------------------- - #define mjVERSION 236 -#define mjVERSIONSTRING "2.3.6" + #define mjVERSION 237 +#define mjVERSIONSTRING "2.3.7" // names of disable flags const char* mjDISABLESTRING[mjNDISABLE] = { diff --git a/unity/Editor/Bindings/MujocoBinaryRetriever.cs b/unity/Editor/Bindings/MujocoBinaryRetriever.cs index 620fbd752a..8392955bc8 100644 --- a/unity/Editor/Bindings/MujocoBinaryRetriever.cs +++ b/unity/Editor/Bindings/MujocoBinaryRetriever.cs @@ -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.2.3.6.dylib", + "/mujoco.framework/Versions/Current/libmujoco.2.3.7.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-2.3.6/lib/libmujoco.so.2.3.6", + "/.mujoco/mujoco-2.3.7/lib/libmujoco.so.2.3.7", mujocoPath + "/libmujoco.so"); AssetDatabase.Refresh(); } diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs index 59b497ef3f..d921064895 100644 --- a/unity/Runtime/Bindings/MjBindings.cs +++ b/unity/Runtime/Bindings/MjBindings.cs @@ -105,7 +105,7 @@ 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 = 236; +public const int mjVERSION_HEADER = 237; // ------------------------------------Enums------------------------------------ diff --git a/unity/package.json b/unity/package.json index 300b497c98..4eee8cc517 100644 --- a/unity/package.json +++ b/unity/package.json @@ -1,7 +1,7 @@ { "name": "org.mujoco", "displayName": "MuJoCo", - "version": "2.3.6", + "version": "2.3.7", "description": "MuJoCo importer and runtime plug-in", "dependencies": {}, "author": {