Update MuJoCo to version 2.1.3.

PiperOrigin-RevId: 436727767
Change-Id: I9b1b0084021e83f790efa46eab9a980cbde4953f

Author: nimrod-gileadi

doc/changelog.rst

@@ -2,6 +2,28 @@
 Changelog
 =========
 
+Version 2.1.3 (Mar. 23, 2022)
+-----------------------------
+
+General
+^^^^^^^
+
+1. ``simulate`` now support cycling through cameras (with ``[`` and ``]`` keys).
+#. ``mjVIS_STATIC`` toggles all static bodies, not just direct children of the world.
+
+Python bindings
+^^^^^^^^^^^^^^^
+
+3. Add a ``free()`` method to ``MjrContext``.
+#. Enums now support arithmetic and bitwise operations with numbers.
+
+Bug fixes
+^^^^^^^^^
+
+5. Fix rendering bug for planes, introduced in 2.1.2. This broke maze environments in
+   `dm_control <https://github.com/deepmind/dm_control>`_.
+
+
 Version 2.1.2 (Mar. 15, 2022)
 -----------------------------
 
@@ -76,7 +98,7 @@ General
    attribute: ``<geom fluidshape="ellipsoid"/>``. The parameters are described succinctly :ref:`here<geom>`, but we
    leave a full description or the model and its parameters to when this feature leaves experimental status.
 
-Bug Fixes
+Bug fixes
 ^^^^^^^^^
 
 16. ``mj_loadXML`` and ``mj_saveLastXML`` are now locale-independent. The Unity plugin should now work correctly for
@@ -247,7 +269,7 @@ License manager
     backward compabitibily, but now they do nothing and it is no longer necessary to call them.
 #. Removed the remote license certificate functions ``mj_certXXX``.
 
-Earlier Versions
+Earlier versions
 ----------------
 
 For changelogs of earlier versions please see `roboti.us <https://www.roboti.us/download.html>`_.

doc/python.rst

@@ -18,7 +18,7 @@ DeepMind’s `dm_control <https://github.com/deepmind/dm_control>`__ reinforceme
 version 1.0.0 implemented its own MuJoCo bindings based on ``ctypes``) has been updated to depend on the ``mujoco``
 package and continues to be supported by DeepMind. Changes in dm_control should be largely transparent to users of
 previous versions, however code that depended directly on its low-level API may need to be updated. Consult the
-`migration guide <https://github.com/deepmind/dm_control/blob/main/migration_guide_1.0.md>`__ for detail.
+`migration guide <https://github.com/deepmind/dm_control/blob/master/migration_guide_1.0.md>`__ for detail.
 
 For mujoco-py users, we include :ref:`notes <PyMjpy_migration>` below to aid migration.
 

include/mujoco.h

@@ -24,7 +24,7 @@ extern "C" {
 #endif
 
 // header version; should match the library version as returned by mj_version()
-#define mjVERSION_HEADER 212
+#define mjVERSION_HEADER 213
 
 // needed to define size_t, fabs and log10
 #include "stdlib.h"

python/mujoco/CMakeLists.txt

@@ -55,7 +55,7 @@ include(FindOrFetch)
 
 # ==================== MUJOCO LIBRARY ==========================================
 if(NOT TARGET mujoco)
-  find_library(MUJOCO_LIBRARY mujoco mujoco.2.1.2 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED)
+  find_library(MUJOCO_LIBRARY mujoco mujoco.2.1.3 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED)
   find_path(MUJOCO_INCLUDE mujoco.h HINTS ${MUJOCO_INCLUDE_DIR} REQUIRED)
   message("MuJoCo is at ${MUJOCO_LIBRARY}")
   message("MuJoCo headers are at ${MUJOCO_INCLUDE}")
@@ -152,7 +152,7 @@ else()
     GIT_REPO
     https://github.com/pybind/pybind11
     GIT_TAG
-    4c4b33f14215f8992e2c67ace2a7a4c114c48bb9
+    08ea85b0ac0d4d46ac081ff24f481b41322d7159
     TARGETS
     pybind11::pybind11_headers
     EXCLUDE_FROM_ALL

python/mujoco/__init__.py

@@ -41,11 +41,11 @@
     ctypes.CDLL(os.path.join(os.path.dirname(__file__), libglew_name),
                 ctypes.RTLD_GLOBAL)
     ctypes.CDLL(
-        os.path.join(os.path.dirname(__file__), 'libmujoco.so.2.1.2'),
+        os.path.join(os.path.dirname(__file__), 'libmujoco.so.2.1.3'),
         ctypes.RTLD_GLOBAL)
   else:
     ctypes.CDLL(
-        os.path.join(os.path.dirname(__file__), 'libmujoco_nogl.so.2.1.2'),
+        os.path.join(os.path.dirname(__file__), 'libmujoco_nogl.so.2.1.3'),
         ctypes.RTLD_GLOBAL)
 elif _SYSTEM == 'Windows':
   if _MUJOCO_GL in _MUJOCO_GL_ENABLE + ('glfw', 'wgl'):

python/setup.py

@@ -30,7 +30,7 @@
 from setuptools import setup
 from setuptools.command import build_ext
 
-__version__ = '2.1.2.post2'
+__version__ = '2.1.3'
 
 MUJOCO_CMAKE = 'MUJOCO_CMAKE'
 MUJOCO_CMAKE_ARGS = 'MUJOCO_CMAKE_ARGS'

sample/Makefile.macos

@@ -10,12 +10,12 @@ CFLAGS=-O2 -I$(MUJOCO_INCLUDEDIR) -I$(HOMEBREW)/include -pthread
 ALLFLAGS=$(CFLAGS) -L$(MUJOCO_LIBDIR) -L$(HOMEBREW)/lib -std=c++11 -stdlib=libc++
 
 all:
-	clang++ $(ALLFLAGS) testxml.cc    -lmujoco.2.1.2        -o testxml
-	clang++ $(ALLFLAGS) testspeed.cc  -lmujoco.2.1.2        -o testspeed
-	clang++ $(ALLFLAGS) compile.cc    -lmujoco.2.1.2        -o compile
-	clang++ $(ALLFLAGS) derivative.cc -lmujoco.2.1.2        -o derivative
-	clang++ $(ALLFLAGS) basic.cc      -lmujoco.2.1.2 -lglfw -o basic
-	clang++ $(ALLFLAGS) record.cc     -lmujoco.2.1.2 -lglfw -o record
+	clang++ $(ALLFLAGS) testxml.cc    -lmujoco.2.1.3        -o testxml
+	clang++ $(ALLFLAGS) testspeed.cc  -lmujoco.2.1.3        -o testspeed
+	clang++ $(ALLFLAGS) compile.cc    -lmujoco.2.1.3        -o compile
+	clang++ $(ALLFLAGS) derivative.cc -lmujoco.2.1.3        -o derivative
+	clang++ $(ALLFLAGS) basic.cc      -lmujoco.2.1.3 -lglfw -o basic
+	clang++ $(ALLFLAGS) record.cc     -lmujoco.2.1.3 -lglfw -o record
 	clang -c $(CFLAGS) uitools.c
-	clang++ $(ALLFLAGS) uitools.o simulate.cc -lmujoco.2.1.2 -lglfw -o simulate
+	clang++ $(ALLFLAGS) uitools.o simulate.cc -lmujoco.2.1.3 -lglfw -o simulate
 	rm *.o

unity/Runtime/Bindings/MujocoBinaryRetriever.cs

@@ -35,15 +35,15 @@ static void RegisteredPackagesEventHandler(
       if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/mujoco.dylib") == null) {
         File.Copy(
             "/Applications/MuJoCo.app/Contents/Frameworks" +
-            "/MuJoCo.framework/Versions/Current/libmujoco.2.1.2.dylib",
+            "/MuJoCo.framework/Versions/Current/libmujoco.2.1.3.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-2.1.2/lib/libmujoco_nogl.so.2.1.2",
+            "/.mujoco/mujoco-2.1.3/lib/libmujoco_nogl.so.2.1.3",
             mujocoPath + "/libmujoco.so");
         AssetDatabase.Refresh();
       }

unity/Runtime/Bindings/MujocoBindings.cs

@@ -83,7 +83,7 @@ public static class MujocoLib {
 public const int mjMAXLINE = 100;
 public const int mjMAXLINEPNT = 1000;
 public const int mjMAXPLANEGRID = 200;
-public const int mjVERSION_HEADER = 212;
+public const int mjVERSION_HEADER = 213;
 
 
 // ------------------------------------Enums------------------------------------