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Release version 2.3.7.
PiperOrigin-RevId: 549565890 Change-Id: I56db138998e43637bdde86de6490a567f0f255ec
1 parent 06b7083 commit c9246e1

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+89
-88
lines changed

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lines changed

‎CMakeLists.txt

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Original file line numberDiff line numberDiff line change
@@ -28,7 +28,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON)
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project(
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mujoco
31-
VERSION 2.3.6
31+
VERSION 2.3.7
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DESCRIPTION "MuJoCo Physics Simulator"
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HOMEPAGE_URL "https://mujoco.org"
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)

‎cmake/MujocoDependencies.cmake

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@@ -35,7 +35,7 @@ set(MUJOCO_DEP_VERSION_qhull
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CACHE STRING "Version of `qhull` to be fetched."
3636
)
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set(MUJOCO_DEP_VERSION_Eigen3
38-
969c31eefcdfaab11da763bea3f7502086673ab0
38+
211c5dfc6741a5570ad007983c113ef4d144f9f3
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CACHE STRING "Version of `Eigen3` to be fetched."
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)
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‎dist/mujoco.rc

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@@ -1,6 +1,6 @@
11
1 VERSIONINFO
2-
FILEVERSION 2,3,6,0
3-
PRODUCTVERSION 2,3,6,0
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FILEVERSION 2,3,7,0
3+
PRODUCTVERSION 2,3,7,0
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FILEOS 0x4
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FILETYPE 0x1
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{
@@ -9,9 +9,9 @@ FILETYPE 0x1
99
BLOCK "040904b0"
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{
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VALUE "ProductName", "MuJoCo"
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VALUE "ProductVersion", "2.3.6"
12+
VALUE "ProductVersion", "2.3.7"
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VALUE "FileDescription", "MuJoCo"
14-
VALUE "FileVersion", "2.3.6"
14+
VALUE "FileVersion", "2.3.7"
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VALUE "InternalName", "mujoco.dll"
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VALUE "OriginalFilename", "mujoco.dll"
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VALUE "CompanyName", "Google DeepMind"

‎dist/simulate.rc

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@@ -1,8 +1,8 @@
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MUJOCO ICON "mujoco.ico"
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1 VERSIONINFO
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FILEVERSION 2,3,6,0
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PRODUCTVERSION 2,3,6,0
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FILEVERSION 2,3,7,0
5+
PRODUCTVERSION 2,3,7,0
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FILEOS 0x4
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FILETYPE 0x1
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{
@@ -11,9 +11,9 @@ FILETYPE 0x1
1111
BLOCK "040904b0"
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{
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VALUE "ProductName", "MuJoCo"
14-
VALUE "ProductVersion", "2.3.6"
14+
VALUE "ProductVersion", "2.3.7"
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VALUE "FileDescription", "MuJoCo"
16-
VALUE "FileVersion", "2.3.6"
16+
VALUE "FileVersion", "2.3.7"
1717
VALUE "InternalName", "simulate.exe"
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VALUE "OriginalFilename", "simulate.exe"
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VALUE "CompanyName", "Google DeepMind"

‎doc/APIreference/APIglobals.rst

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@@ -512,7 +512,7 @@ table below. Their names are in the format ``mjKEY_XXX``. They correspond to GLF
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- Maximum number of UI rectangles.
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Defined in `mjui.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
514514
* - ``mjVERSION_HEADER``
515-
- 236
515+
- 237
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- The version of the MuJoCo headers; changes with every release. This is an integer equal to 100x the software
517517
version, so 210 corresponds to version 2.1. Defined in mujoco.h. The API function :ref:`mj_version` returns a
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number with the same meaning but for the compiled library.

‎doc/changelog.rst

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@@ -2,43 +2,44 @@
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Changelog
33
=========
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5-
Upcoming version (not yet released)
6-
-----------------------------------
5+
Version 2.3.7 (July 20, 2023)
6+
-----------------------------
77

88
General
99
^^^^^^^
1010

11-
- Added primitive collider for sphere-cylinder contacts, previously this pair used the generic convex-convex collider.
12-
- Added :ref:`joint-actuatorforcerange<body-joint-actuatorforcerange>` for clamping total actuator force at joints and
13-
:ref:`sensor-jointactuatorfrc<sensor-jointactuatorfrc>` for measuring total actuation force applied at a joint. The
14-
most important use case for joint-level actuator force clamping is to ensure that
15-
:ref:`Cartesian actuator<actuator-general-refsite>` forces are realizable by individual motors at the joints.
16-
See :ref:`CForceRange` for details.
17-
- Added an optional ``content_type`` attribute to hfield, texture, and mesh assets. This attribute supports a formatted
18-
`Media Type <https://www.iana.org/assignments/media-types/media-types.xhtml>`_ (previously known as MIME type) string
19-
used to determine the type of the asset file without resorting to pulling the type from the file extension.
20-
- Added analytic derivatives for quaternion :ref:`subtraction<mjd_subQuat>` and :ref:`integration<mjd_quatIntegrate>`
21-
(rotation with an angular velocity). Derivatives are in the 3D tangent space.
22-
- Added :ref:`mjv_connector` which has identical functionality to :ref:`mjv_makeConnector`, but with more convenient
23-
"from-to" argument parametrization. :ref:`mjv_makeConnector` is now deprecated.
24-
- Bumped oldest supported MacOS from version 10.12 to 11. MacOS 11 is the oldest version still maintained by Apple.
11+
1. Added primitive collider for sphere-cylinder contacts, previously this pair used the generic convex-convex collider.
12+
#. Added :ref:`joint-actuatorforcerange<body-joint-actuatorforcerange>` for clamping total actuator force at joints and
13+
:ref:`sensor-jointactuatorfrc<sensor-jointactuatorfrc>` for measuring total actuation force applied at a joint. The
14+
most important use case for joint-level actuator force clamping is to ensure that
15+
:ref:`Cartesian actuator<actuator-general-refsite>` forces are realizable by individual motors at the joints.
16+
See :ref:`CForceRange` for details.
17+
#. Added an optional ``content_type`` attribute to hfield, texture, and mesh assets. This attribute supports a formatted
18+
`Media Type <https://www.iana.org/assignments/media-types/media-types.xhtml>`_ (previously known as MIME type) string
19+
used to determine the type of the asset file without resorting to pulling the type from the file extension.
20+
#. Added analytic derivatives for quaternion :ref:`subtraction<mjd_subQuat>` and :ref:`integration<mjd_quatIntegrate>`
21+
(rotation with an angular velocity). Derivatives are in the 3D tangent space.
22+
#. Added :ref:`mjv_connector` which has identical functionality to :ref:`mjv_makeConnector`, but with more convenient
23+
"from-to" argument parametrization. :ref:`mjv_makeConnector` is now deprecated.
24+
#. Bumped oldest supported MacOS from version 10.12 to 11. MacOS 11 is the oldest version still maintained by Apple.
2525

2626
Python bindings
2727
^^^^^^^^^^^^^^^
2828

29-
- The :ref:`passive viewer<PyViewerPassive>` handle now exposes ``update_hfield``, ``update_mesh``, and
30-
``update_texture`` methods to allow users to update renderable assets.
31-
(`#812 <https://github.com/deepmind/mujoco/issues/812>`_, `#958 <https://github.com/deepmind/mujoco/issues/958>`_,
32-
`#965 <https://github.com/deepmind/mujoco/issues/965>`_)
33-
- Allow a custom keyboard event callback to be specified in the :ref:`passive viewer<PyViewerPassive>`.
34-
(`#766 <https://github.com/deepmind/mujoco/issues/766>`_)
35-
- Fix GLFW crash when Python exits while the passive viewer is running.
36-
(`#790 <https://github.com/deepmind/mujoco/issues/790>`_)
29+
7. The :ref:`passive viewer<PyViewerPassive>` handle now exposes ``update_hfield``, ``update_mesh``, and
30+
``update_texture`` methods to allow users to update renderable assets.
31+
(`#812 <https://github.com/deepmind/mujoco/issues/812>`_, `#958 <https://github.com/deepmind/mujoco/issues/958>`_,
32+
`#965 <https://github.com/deepmind/mujoco/issues/965>`_)
33+
#. Allow a custom keyboard event callback to be specified in the :ref:`passive viewer<PyViewerPassive>`.
34+
(`#766 <https://github.com/deepmind/mujoco/issues/766>`_)
35+
#. Fix GLFW crash when Python exits while the passive viewer is running.
36+
(`#790 <https://github.com/deepmind/mujoco/issues/790>`_)
3737

3838
Models
3939
^^^^^^
4040

41-
- Added simple `car <https://github.com/deepmind/mujoco/blob/main/model/car/car.xml>`__ example model.
41+
10. Added simple `car <https://github.com/deepmind/mujoco/blob/main/model/car/car.xml>`__ example model.
42+
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Version 2.3.6 (June 20, 2023)
4445
-----------------------------

‎doc/unity.rst

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The MuJoCo app needs to be run at least once before the native library can be used, in order to register the library as
3232
a trusted binary. Then, copy the dynamic library file from
33-
``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.2.3.6.dylib`` (it can be
33+
``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.2.3.7.dylib`` (it can be
3434
found by browsing the contents of ``MuJoCo.app``) and rename it as ``mujoco.dylib``.
3535

3636
Linux
3737
_____
3838

3939
Expand the ``tar.gz`` archive to ``~/.mujoco``. Then copy the dynamic library from
40-
``~/.mujoco/mujoco-2.3.6/lib/libmujoco.so.2.3.6`` and rename it as ``libmujoco.so``.
40+
``~/.mujoco/mujoco-2.3.7/lib/libmujoco.so.2.3.7`` and rename it as ``libmujoco.so``.
4141

4242
Windows
4343
_______

‎include/mujoco/mujoco.h

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@@ -24,7 +24,7 @@ extern "C" {
2424
#endif
2525

2626
// header version; should match the library version as returned by mj_version()
27-
#define mjVERSION_HEADER 236
27+
#define mjVERSION_HEADER 237
2828

2929
// needed to define size_t, fabs and log10
3030
#include <stdlib.h>

‎python/build_requirements.txt

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11
auditwheel==5.4.0 \
22
--hash=sha256:d8410a17523427ba3f7b60c9701d23de28b8f94fa5dab732aa6c30d160df8127
3-
numpy==1.24.3; python_version == '3.8' \
4-
--hash=sha256:56e48aec79ae238f6e4395886b5eaed058abb7231fb3361ddd7bfdf4eed54289 \
5-
--hash=sha256:4749e053a29364d3452c034827102ee100986903263e89884922ef01a0a6fd2f \
6-
--hash=sha256:ecde0f8adef7dfdec993fd54b0f78183051b6580f606111a6d789cd14c61ea0c \
7-
--hash=sha256:ae8d0be48d1b6ed82588934aaaa179875e7dc4f3d84da18d7eae6eb3f06c242c \
8-
--hash=sha256:7776ea65423ca6a15255ba1872d82d207bd1e09f6d0894ee4a64678dd2204078
9-
numpy==1.25.0; python_version >= '3.9' \
10-
--hash=sha256:b76aa836a952059d70a2788a2d98cb2a533ccd46222558b6970348939e55fc24 \
11-
--hash=sha256:e559c6afbca484072a98a51b6fa466aae785cfe89b69e8b856c3191bc8872a82 \
12-
--hash=sha256:ecc68f11404930e9c7ecfc937aa423e1e50158317bf67ca91736a9864eae0232 \
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--hash=sha256:9c7211d7920b97aeca7b3773a6783492b5b93baba39e7c36054f6e749fc7490c \
14-
--hash=sha256:4c69fe5f05eea336b7a740e114dec995e2f927003c30702d896892403df6dbf0 \
15-
--hash=sha256:c0dc071017bc00abb7d7201bac06fa80333c6314477b3d10b52b58fa6a6e38f6 \
16-
--hash=sha256:4aedd08f15d3045a4e9c648f1e04daca2ab1044256959f1f95aafeeb3d794c16 \
17-
--hash=sha256:d6b267f349a99d3908b56645eebf340cb58f01bd1e773b4eea1a905b3f0e4208 \
18-
--hash=sha256:9e3f2b96e3b63c978bc29daaa3700c028fe3f049ea3031b58aa33fe2a5809d24 \
19-
--hash=sha256:8aa130c3042052d656751df5e81f6d61edff3e289b5994edcf77f54118a8d9f4 \
20-
--hash=sha256:26815c6c8498dc49d81faa76d61078c4f9f0859ce7817919021b9eba72b425e3 \
21-
--hash=sha256:5177310ac2e63d6603f659fadc1e7bab33dd5a8db4e0596df34214eeab0fee3b \
22-
--hash=sha256:5aa48bebfb41f93043a796128854b84407d4df730d3fb6e5dc36402f5cd594c0 \
23-
--hash=sha256:7cd981ccc0afe49b9883f14761bb57c964df71124dcd155b0cba2b591f0d64b9 \
24-
--hash=sha256:b792164e539d99d93e4e5e09ae10f8cbe5466de7d759fc155e075237e0c274e4 \
25-
pip==23.1.2 \
26-
--hash=sha256:3ef6ac33239e4027d9a5598a381b9d30880a1477e50039db2eac6e8a8f6d1b18
3+
numpy==1.24.4; python_version == '3.8' \
4+
--hash=sha256:692f2e0f55794943c5bfff12b3f56f99af76f902fc47487bdfe97856de51a706 \
5+
--hash=sha256:dd80e219fd4c71fc3699fc1dadac5dcf4fd882bfc6f7ec53d30fa197b8ee22dc \
6+
--hash=sha256:a5425b114831d1e77e4b5d812b69d11d962e104095a5b9c3b641a218abcc050e \
7+
--hash=sha256:04640dab83f7c6c85abf9cd729c5b65f1ebd0ccf9de90b270cd61935eef0197f \
8+
--hash=sha256:1452241c290f3e2a312c137a9999cdbf63f78864d63c79039bda65ee86943f61
9+
numpy==1.25.1; python_version >= '3.9' \
10+
--hash=sha256:c40571fe966393b212689aa17e32ed905924120737194b5d5c1b20b9ed0fb171 \
11+
--hash=sha256:d5154b1a25ec796b1aee12ac1b22f414f94752c5f94832f14d8d6c9ac40bcca6 \
12+
--hash=sha256:41a56b70e8139884eccb2f733c2f7378af06c82304959e174f8e7370af112e09 \
13+
--hash=sha256:e8f6049c4878cb16960fbbfb22105e49d13d752d4d8371b55110941fb3b17800 \
14+
--hash=sha256:6b82655dd8efeea69dbf85d00fca40013d7f503212bc5259056244961268b66e \
15+
--hash=sha256:c1516db588987450b85595586605742879e50dcce923e8973f79529651545b57 \
16+
--hash=sha256:6c6c9261d21e617c6dc5eacba35cb68ec36bb72adcff0dee63f8fbc899362588 \
17+
--hash=sha256:4a90725800caeaa160732d6b31f3f843ebd45d6b5f3eec9e8cc287e30f2805bf \
18+
--hash=sha256:d736b75c3f2cb96843a5c7f8d8ccc414768d34b0a75f466c05f3a739b406f10b \
19+
--hash=sha256:77d339465dff3eb33c701430bcb9c325b60354698340229e1dff97745e6b3efa \
20+
--hash=sha256:1d5d3c68e443c90b38fdf8ef40e60e2538a27548b39b12b73132456847f4b631 \
21+
--hash=sha256:20e1266411120a4f16fad8efa8e0454d21d00b8c7cee5b5ccad7565d95eb42dd \
22+
--hash=sha256:d412c1697c3853c6fc3cb9751b4915859c7afe6a277c2bf00acf287d56c4e625 \
23+
--hash=sha256:1a180429394f81c7933634ae49b37b472d343cccb5bb0c4a575ac8bbc433722f \
24+
--hash=sha256:3d7abcdd85aea3e6cdddb59af2350c7ab1ed764397f8eec97a038ad244d2d105 \
25+
pip==23.2 \
26+
--hash=sha256:78e5353a9dda374b462f2054f83a7b63f3f065c98236a68361845c1b0ee7e35f
2727
PyOpenGL==3.1.7 \
2828
--hash=sha256:a6ab19cf290df6101aaf7470843a9c46207789855746399d0af92521a0a92b7a
29-
pytest==7.3.2 \
30-
--hash=sha256:cdcbd012c9312258922f8cd3f1b62a6580fdced17db6014896053d47cddf9295
29+
pytest==7.4.0 \
30+
--hash=sha256:78bf16451a2eb8c7a2ea98e32dc119fd2aa758f1d5d66dbf0a59d69a3969df32
3131
setuptools==68.0.0 \
3232
--hash=sha256:11e52c67415a381d10d6b462ced9cfb97066179f0e871399e006c4ab101fc85f
3333
wheel==0.40.0 \
@@ -42,14 +42,14 @@ attrs==23.1.0 \
4242
--hash=sha256:1f28b4522cdc2fb4256ac1a020c78acf9cba2c6b461ccd2c126f3aa8e8335d04
4343
colorama==0.4.6 \
4444
--hash=sha256:4f1d9991f5acc0ca119f9d443620b77f9d6b33703e51011c16baf57afb285fc6
45-
exceptiongroup==1.1.1; python_version < '3.11' \
46-
--hash=sha256:232c37c63e4f682982c8b6459f33a8981039e5fb8756b2074364e5055c498c9e
45+
exceptiongroup==1.1.2; python_version < '3.11' \
46+
--hash=sha256:e346e69d186172ca7cf029c8c1d16235aa0e04035e5750b4b95039e65204328f
4747
iniconfig==2.0.0 \
4848
--hash=sha256:b6a85871a79d2e3b22d2d1b94ac2824226a63c6b741c88f7ae975f18b6778374
4949
packaging==23.1 \
5050
--hash=sha256:994793af429502c4ea2ebf6bf664629d07c1a9fe974af92966e4b8d2df7edc61
51-
pluggy==1.0.0 \
52-
--hash=sha256:74134bbf457f031a36d68416e1509f34bd5ccc019f0bcc952c7b909d06b37bd3
51+
pluggy==1.2.0 \
52+
--hash=sha256:c2fd55a7d7a3863cba1a013e4e2414658b1d07b6bc57b3919e0c63c9abb99849
5353
pyparsing==3.1.0 \
5454
--hash=sha256:d554a96d1a7d3ddaf7183104485bc19fd80543ad6ac5bdb6426719d766fb06c1
5555
tomli==2.0.1; python_version < '3.11' \

‎python/make_sdist_requirements.txt

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@@ -1,6 +1,6 @@
11
absl-py==1.4.0 \
22
--hash=sha256:0d3fe606adfa4f7db64792dd4c7aee4ee0c38ab75dfd353b7a83ed3e957fcb47
3-
pip==23.1.2 \
4-
--hash=sha256:3ef6ac33239e4027d9a5598a381b9d30880a1477e50039db2eac6e8a8f6d1b18
3+
pip==23.2 \
4+
--hash=sha256:78e5353a9dda374b462f2054f83a7b63f3f065c98236a68361845c1b0ee7e35f
55
setuptools==68.0.0 \
66
--hash=sha256:11e52c67415a381d10d6b462ced9cfb97066179f0e871399e006c4ab101fc85f

‎python/mujoco/CMakeLists.txt

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Original file line numberDiff line numberDiff line change
@@ -84,15 +84,15 @@ if(NOT TARGET mujoco)
8484
if(MUJOCO_FRAMEWORK)
8585
message("MuJoCo framework is at ${MUJOCO_FRAMEWORK}/mujoco.framework")
8686
set(MUJOCO_LIBRARY
87-
${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.2.3.6.dylib
87+
${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.2.3.7.dylib
8888
)
8989
target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK})
9090
endif()
9191
endif()
9292

9393
if(NOT MUJOCO_FRAMEWORK)
9494
find_library(
95-
MUJOCO_LIBRARY mujoco mujoco.2.3.6 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
95+
MUJOCO_LIBRARY mujoco mujoco.2.3.7 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
9696
)
9797
find_path(MUJOCO_INCLUDE mujoco/mujoco.h HINTS ${MUJOCO_INCLUDE_DIR} REQUIRED)
9898
message("MuJoCo is at ${MUJOCO_LIBRARY}")
@@ -173,7 +173,7 @@ findorfetch(
173173
GIT_REPO
174174
https://gitlab.com/libeigen/eigen
175175
GIT_TAG
176-
969c31eefcdfaab11da763bea3f7502086673ab0
176+
211c5dfc6741a5570ad007983c113ef4d144f9f3
177177
TARGETS
178178
Eigen3::Eigen
179179
EXCLUDE_FROM_ALL
@@ -190,7 +190,7 @@ findorfetch(
190190
GIT_REPO
191191
https://github.com/pybind/pybind11
192192
GIT_TAG
193-
5b0a6fc2017fcc176545afe3e09c9f9885283242 # v2.10.4
193+
8a099e44b3d5f85b20f05828d919d2332a8de841 # v2.11.1
194194
TARGETS
195195
pybind11::pybind11_headers
196196
EXCLUDE_FROM_ALL

‎python/mujoco/mjpython/Info.plist

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Original file line numberDiff line numberDiff line change
@@ -7,13 +7,13 @@
77
<key>CFBundleIdentifier</key>
88
<string>org.mujoco.mjpython</string>
99
<key>CFBundleVersion</key>
10-
<string>2.3.6</string>
10+
<string>2.3.7</string>
1111
<key>CFBundleGetInfoString</key>
12-
<string>2.3.6</string>
12+
<string>2.3.7</string>
1313
<key>CFBundleLongVersionString</key>
14-
<string>2.3.6</string>
14+
<string>2.3.7</string>
1515
<key>CFBundleShortVersionString</key>
16-
<string>2.3.6</string>
16+
<string>2.3.7</string>
1717
<key>CFBundleExecutable</key>
1818
<string>mjpython</string>
1919
<key>CFBundleIconFile</key>

‎python/setup.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -32,7 +32,7 @@
3232
from setuptools.command import build_ext
3333
from setuptools.command import install_scripts
3434

35-
__version__ = '2.3.6'
35+
__version__ = '2.3.7'
3636

3737
MUJOCO_CMAKE = 'MUJOCO_CMAKE'
3838
MUJOCO_CMAKE_ARGS = 'MUJOCO_CMAKE_ARGS'

‎sample/CMakeLists.txt

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -24,7 +24,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON)
2424

2525
project(
2626
mujoco_samples
27-
VERSION 2.3.6
27+
VERSION 2.3.7
2828
DESCRIPTION "MuJoCo samples binaries"
2929
HOMEPAGE_URL "https://mujoco.org"
3030
)

‎simulate/CMakeLists.txt

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -29,7 +29,7 @@ set(MUJOCO_DEP_VERSION_lodepng
2929

3030
project(
3131
mujoco_simulate
32-
VERSION 2.3.6
32+
VERSION 2.3.7
3333
DESCRIPTION "MuJoCo simulate binaries"
3434
HOMEPAGE_URL "https://mujoco.org"
3535
)

‎src/engine/engine_support.c

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -38,8 +38,8 @@
3838

3939
//-------------------------- Constants -------------------------------------------------------------
4040

41-
#define mjVERSION 236
42-
#define mjVERSIONSTRING "2.3.6"
41+
#define mjVERSION 237
42+
#define mjVERSIONSTRING "2.3.7"
4343

4444
// names of disable flags
4545
const char* mjDISABLESTRING[mjNDISABLE] = {

‎unity/Editor/Bindings/MujocoBinaryRetriever.cs

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -37,15 +37,15 @@ static void RegisteredPackagesEventHandler(
3737
if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/mujoco.dylib") == null) {
3838
File.Copy(
3939
"/Applications/MuJoCo.app/Contents/Frameworks" +
40-
"/mujoco.framework/Versions/Current/libmujoco.2.3.6.dylib",
40+
"/mujoco.framework/Versions/Current/libmujoco.2.3.7.dylib",
4141
mujocoPath + "/mujoco.dylib");
4242
AssetDatabase.Refresh();
4343
}
4444
} else if (RuntimeInformation.IsOSPlatform(OSPlatform.Linux)) {
4545
if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/libmujoco.so") == null) {
4646
File.Copy(
4747
Environment.GetFolderPath(Environment.SpecialFolder.UserProfile) +
48-
"/.mujoco/mujoco-2.3.6/lib/libmujoco.so.2.3.6",
48+
"/.mujoco/mujoco-2.3.7/lib/libmujoco.so.2.3.7",
4949
mujocoPath + "/libmujoco.so");
5050
AssetDatabase.Refresh();
5151
}

‎unity/Runtime/Bindings/MjBindings.cs

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -105,7 +105,7 @@ public static class MujocoLib {
105105
public const int mjMAXPLANEGRID = 200;
106106
public const bool THIRD_PARTY_MUJOCO_MJXMACRO_H_ = true;
107107
public const bool THIRD_PARTY_MUJOCO_MUJOCO_H_ = true;
108-
public const int mjVERSION_HEADER = 236;
108+
public const int mjVERSION_HEADER = 237;
109109

110110

111111
// ------------------------------------Enums------------------------------------

‎unity/package.json

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
11
{
22
"name": "org.mujoco",
33
"displayName": "MuJoCo",
4-
"version": "2.3.6",
4+
"version": "2.3.7",
55
"description": "MuJoCo importer and runtime plug-in",
66
"dependencies": {},
77
"author": {

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