Upgrade to MuJoCo version 3.1.6.

Update version number. PiperOrigin-RevId: 642197881 Change-Id: Ide8e9b019ca87660f65b52ed549abd8ecda65e26
google-deepmind · Jun 11, 2024 · 357f660 · 357f660
1 parent 2430840
commit 357f660
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Showing 17 changed files with 43 additions and 43 deletions.
diff --git a/cpp/CMakeLists.txt b/cpp/CMakeLists.txt
@@ -178,23 +178,23 @@ if (DM_ROBOTICS_BUILD_dmr_lsqp
   )
 endif()
 
-# MuJoco 3.0.0
+# MuJoco 3.1.6
 if (DM_ROBOTICS_MUJOCO_TAR)
   message(STATUS "dm_robotics: MuJoCo TAR file specified at `${DM_ROBOTICS_MUJOCO_TAR}`.")
 else()
   message(STATUS "dm_robotics: MuJoCo TAR file not specified. Downloading MuJoCo....")
-  file(DOWNLOAD https://github.com/google-deepmind/mujoco/releases/download/3.0.0/mujoco-3.0.0-linux-x86_64.tar.gz mujoco.tar.gz)
+  file(DOWNLOAD https://github.com/google-deepmind/mujoco/releases/download/3.1.6/mujoco-3.1.6-linux-x86_64.tar.gz mujoco.tar.gz)
   set(DM_ROBOTICS_MUJOCO_TAR mujoco.tar.gz)
 endif()
 file(ARCHIVE_EXTRACT INPUT ${DM_ROBOTICS_MUJOCO_TAR} DESTINATION mujoco_bin)
-message("Checking headers in ${CMAKE_CURRENT_BINARY_DIR}/mujoco_bin/mujoco-3.0.0/include/mujoco")
-file(GLOB_RECURSE MUJOCO_HEADERS RELATIVE "${CMAKE_CURRENT_BINARY_DIR}" "${CMAKE_CURRENT_BINARY_DIR}/mujoco_bin/mujoco-3.0.0/include/mujoco/*.h")
+message("Checking headers in ${CMAKE_CURRENT_BINARY_DIR}/mujoco_bin/mujoco-3.1.6/include/mujoco")
+file(GLOB_RECURSE MUJOCO_HEADERS RELATIVE "${CMAKE_CURRENT_BINARY_DIR}" "${CMAKE_CURRENT_BINARY_DIR}/mujoco_bin/mujoco-3.1.6/include/mujoco/*.h")
 message("Mujoco headers: ${MUJOCO_HEADERS}")
 add_library(mujoco SHARED IMPORTED)
 set_target_properties(mujoco PROPERTIES
-             IMPORTED_LOCATION ${CMAKE_CURRENT_BINARY_DIR}/mujoco_bin/mujoco-3.0.0/lib/libmujoco.so)
+             IMPORTED_LOCATION ${CMAKE_CURRENT_BINARY_DIR}/mujoco_bin/mujoco-3.1.6/lib/libmujoco.so)
 set_target_properties(mujoco PROPERTIES PUBLIC_HEADER "${MUJOCO_HEADERS}"
- INTERFACE_INCLUDE_DIRECTORIES "${CMAKE_CURRENT_BINARY_DIR}/mujoco_bin/mujoco-3.0.0/include"
+ INTERFACE_INCLUDE_DIRECTORIES "${CMAKE_CURRENT_BINARY_DIR}/mujoco_bin/mujoco-3.1.6/include"
 )
 
 # osqp-cpp

diff --git a/cpp/mujoco/CMakeLists.txt b/cpp/mujoco/CMakeLists.txt
@@ -22,7 +22,7 @@ project(dmr_mujoco
 # with an appropriate default if unset.
 set(MUJOCO_VERSION $ENV{MUJOCO_VERSION} CACHE STRING "Mujoco library version")
 if(NOT MUJOCO_VERSION)
-    set(MUJOCO_VERSION "3.0.0")
+    set(MUJOCO_VERSION "3.1.6")
 endif()
 message ("MUJOCO_VERSION: ${MUJOCO_VERSION}")
 

diff --git a/cpp/requirements_external.txt b/cpp/requirements_external.txt
@@ -3,4 +3,4 @@ setuptools >= 38.6.0
 pkginfo >= 1.4.2
 wheel >= 0.31.0
 dm_control == 1.0.15
-mujoco == 3.0.0
+mujoco == 3.1.6
diff --git a/cpp/setup.py b/cpp/setup.py
@@ -23,7 +23,7 @@
 from setuptools.command.build_ext import build_ext
 
 
-PRE_DOWNLOADED_MUJOCO_TAR = "/deps/mujoco-3.0.0-linux-x86_64.tar.gz"
+PRE_DOWNLOADED_MUJOCO_TAR = "/deps/mujoco-3.1.6-linux-x86_64.tar.gz"
 
 PRE_DOWNLOADED_SOURCE_DIRS = {
     "abseil-cpp": "/deps/abseil-cpp_c2435f8342c2d0ed8101cb43adfd605fdc52dca2",
@@ -127,7 +127,7 @@ def _parse_line(s):
     name="dm_robotics-controllers",
     package_dir={"dm_robotics.controllers": ""},
     packages=["dm_robotics.controllers"],
-    version="0.7.0",
+    version="0.8.0",
     license="Apache 2.0",
     author="DeepMind",
     description="Python bindings for dm_robotics/cpp/controllers",

diff --git a/py/agentflow/requirements_external.txt b/py/agentflow/requirements_external.txt
@@ -1,6 +1,6 @@
 numpy >= 1.16.0
 dm_control == 1.0.15
-mujoco == 3.0.0
+mujoco == 3.1.6
 opencv-python >= 3.4.0, <= 4.6.0.66
 attrs >= 20.3.0
 pydot >= 1.2.4

diff --git a/py/agentflow/setup.py b/py/agentflow/setup.py
@@ -52,7 +52,7 @@ def _parse_line(s):
         "dm_robotics.agentflow.rendering",
         "dm_robotics.agentflow.subtasks",
     ],
-    version="0.7.0",
+    version="0.8.0",
     license="Apache 2.0",
     author="DeepMind",
     description=(

diff --git a/py/agentflow/tox.ini b/py/agentflow/tox.ini
@@ -5,8 +5,8 @@ distshare = ../dist
 
 [testenv:build]
 deps =
-     {distshare}/dm_robotics-transformations-*.zip
-     {distshare}/dm_robotics-geometry-*.zip
+     {distshare}/dm_robotics*transformations-*.zip
+     {distshare}/dm_robotics*geometry-*.zip
      -r requirements_external.txt
 passenv = MJLIB_PATH
 commands = python setup.py sdist bdist_wheel
@@ -15,8 +15,8 @@ commands = python setup.py sdist bdist_wheel
 [testenv:test]
 whitelist_externals = /bin/sh
 deps =
-     {distshare}/dm_robotics-transformations-*.zip
-     {distshare}/dm_robotics-geometry-*.zip
+     {distshare}/dm_robotics*transformations-*.zip
+     {distshare}/dm_robotics*geometry-*.zip
      -r requirements_external.txt
 passenv = MJLIB_PATH
 commands = python run_tests.py .

diff --git a/py/geometry/requirements_external.txt b/py/geometry/requirements_external.txt
@@ -1,4 +1,4 @@
 numpy >= 1.16.0
 dm_control == 1.0.15
-mujoco == 3.0.0
+mujoco == 3.1.6
 six >= 1.16.0
diff --git a/py/geometry/setup.py b/py/geometry/setup.py
@@ -45,7 +45,7 @@ def _parse_line(s):
     name="dm_robotics-geometry",
     package_dir={"dm_robotics.geometry": ""},
     packages=["dm_robotics.geometry"],
-    version="0.7.0",
+    version="0.8.0",
     license="Apache 2.0",
     author="DeepMind",
     description=(

diff --git a/py/geometry/tox.ini b/py/geometry/tox.ini
@@ -5,15 +5,15 @@ distshare = ../dist
 
 [testenv:build]
 deps =
-     {distshare}/dm_robotics-transformations-*.zip
+     {distshare}/dm_robotics*transformations-*.zip
      -rrequirements_external.txt
 passenv = MJLIB_PATH
 commands = python setup.py sdist bdist_wheel
 
 
 [testenv:test]
 deps =
-     {distshare}/dm_robotics-transformations-*.zip
+     {distshare}/dm_robotics*transformations-*.zip
      -r requirements_external.txt
 passenv = MJLIB_PATH
 commands = python -m unittest discover -p '*_test.py'
diff --git a/py/manipulation/requirements_external.txt b/py/manipulation/requirements_external.txt
@@ -2,4 +2,4 @@ absl-py >= 0.9.0
 numpy >= 1.16.0
 typing-extensions >= 3.7.4
 dm_control == 1.0.15
-mujoco == 3.0.0
+mujoco == 3.1.6
diff --git a/py/manipulation/setup.py b/py/manipulation/setup.py
@@ -52,7 +52,7 @@ def _parse_line(s):
         "dm_robotics.manipulation.props.utils",
         "dm_robotics.manipulation.standard_cell",
     ],
-    version="0.7.0",
+    version="0.8.0",
     license="Apache 2.0",
     author="DeepMind",
     description="Parametrically defined mesh objects",

diff --git a/py/manipulation/tox.ini b/py/manipulation/tox.ini
@@ -4,22 +4,22 @@ distshare = ../dist
 
 [testenv:build]
 deps =
-     {distshare}/dm_robotics-transformations-*.zip
-     {distshare}/dm_robotics-geometry-*.zip
-     {distshare}/dm_robotics-agentflow-*.zip
-     {distshare}/dm_robotics_controllers-*.whl
-     {distshare}/dm_robotics-moma-*.zip
+     {distshare}/dm_robotics*transformations-*.zip
+     {distshare}/dm_robotics*geometry-*.zip
+     {distshare}/dm_robotics*agentflow-*.zip
+     {distshare}/dm_robotics*controllers-*.whl
+     {distshare}/dm_robotics*moma-*.zip
      -r requirements_external.txt
 passenv = MJLIB_PATH
 commands = python setup.py sdist bdist_wheel
 
 [testenv:test]
 deps =
-     {distshare}/dm_robotics-transformations-*.zip
-     {distshare}/dm_robotics-geometry-*.zip
-     {distshare}/dm_robotics-agentflow-*.zip
-     {distshare}/dm_robotics_controllers-*.whl
-     {distshare}/dm_robotics-moma-*.zip
+     {distshare}/dm_robotics*transformations-*.zip
+     {distshare}/dm_robotics*geometry-*.zip
+     {distshare}/dm_robotics*agentflow-*.zip
+     {distshare}/dm_robotics*controllers-*.whl
+     {distshare}/dm_robotics*moma-*.zip
      -r requirements_external.txt
      -r requirements_test.txt
 passenv = MJLIB_PATH

diff --git a/py/moma/requirements_external.txt b/py/moma/requirements_external.txt
@@ -1,6 +1,6 @@
 numpy >= 1.16.0
 dm_control == 1.0.15
-mujoco == 3.0.0
+mujoco == 3.1.6
 opencv-python >= 3.4.0, <= 4.6.0.66
 attrs >= 20.3.0
 pydot >= 1.2.4

diff --git a/py/moma/setup.py b/py/moma/setup.py
@@ -56,7 +56,7 @@ def _parse_line(s):
         "dm_robotics.moma.models.end_effectors.wrist_sensors",
         "dm_robotics.moma.models.robots.robot_arms",
     ],
-    version="0.7.0",
+    version="0.8.0",
     license="Apache 2.0",
     author="DeepMind",
     description="Tools for authoring robotic manipulation tasks.",

diff --git a/py/moma/tox.ini b/py/moma/tox.ini
@@ -4,10 +4,10 @@ distshare = ../dist
 
 [testenv:build]
 deps =
-     {distshare}/dm_robotics-transformations-*.zip
-     {distshare}/dm_robotics-geometry-*.zip
-     {distshare}/dm_robotics-agentflow-*.zip
-     {distshare}/dm_robotics_controllers-*.whl
+     {distshare}/dm_robotics*transformations-*.zip
+     {distshare}/dm_robotics*geometry-*.zip
+     {distshare}/dm_robotics*agentflow-*.zip
+     {distshare}/dm_robotics*controllers-*.whl
      -r requirements_external.txt
 passenv = MJLIB_PATH
 commands =
@@ -20,10 +20,10 @@ commands =
 [testenv:test]
 whitelist_externals = /bin/sh
 deps =
-     {distshare}/dm_robotics-transformations-*.zip
-     {distshare}/dm_robotics-geometry-*.zip
-     {distshare}/dm_robotics-agentflow-*.zip
-     {distshare}/dm_robotics_controllers-*.whl
+     {distshare}/dm_robotics*transformations-*.zip
+     {distshare}/dm_robotics*geometry-*.zip
+     {distshare}/dm_robotics*agentflow-*.zip
+     {distshare}/dm_robotics*controllers-*.whl
      -r requirements_external.txt
 passenv = MJLIB_PATH
 setenv =

diff --git a/py/transformations/setup.py b/py/transformations/setup.py
@@ -38,7 +38,7 @@ def _parse_line(s):
     name="dm_robotics-transformations",
     package_dir={"dm_robotics.transformations": ""},
     packages=["dm_robotics.transformations"],
-    version="0.7.0",
+    version="0.8.0",
     license="Apache 2.0",
     author="DeepMind",
     description="A library for Rigid Body Transformations",