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Version 2.1.2: Python bindings, OBJ assets support, bugfixes.

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PiperOrigin-RevId: 434731612
Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
This commit is contained in:
Saran Tunyasuvunakool
2022-03-15 14:04:44 +00:00
parent 175d25cd9f
commit 3577e2cf8b
304 changed files with 23906 additions and 1013 deletions
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sample/Makefile
+13 -9
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@@ -1,12 +1,16 @@
COMMON=-O2 -I../include -L../bin -std=c++11 -mavx -pthread -Wl,-rpath,'$$ORIGIN'
# This Makefile assumes that you have GLFW libraries and headers installed on,
# which is commonly available through your distro's package manager.
# On Debian and Ubuntu, GLFW can be installed via `apt install libglfw3-dev`.
COMMON=-O2 -I../include -L../lib -std=c++11 -pthread -Wl,-rpath,'$$ORIGIN'/../lib
all:
g++ $(COMMON) testxml.cc -lmujoco210nogl -o ../bin/testxml
g++ $(COMMON) testspeed.cc -lmujoco210nogl -o ../bin/testspeed
g++ $(COMMON) compile.cc -lmujoco210nogl -o ../bin/compile
g++ $(COMMON) derivative.cc -lmujoco210nogl -fopenmp -o ../bin/derivative
g++ $(COMMON) basic.cc -lmujoco210 -lGL -lglew ../bin/libglfw.so.3 -o ../bin/basic
g++ $(COMMON) record.cc -lmujoco210 -lGL -lglew ../bin/libglfw.so.3 -o ../bin/record
gcc -c -O2 -mavx -I../include ../include/uitools.c
g++ $(COMMON) uitools.o simulate.cc -lmujoco210 -lGL -lglew ../bin/libglfw.so.3 -o ../bin/simulate
$(CXX) $(COMMON) testxml.cc -lmujoco_nogl -o ../bin/testxml
$(CXX) $(COMMON) testspeed.cc -lmujoco_nogl -o ../bin/testspeed
$(CXX) $(COMMON) compile.cc -lmujoco_nogl -o ../bin/compile
$(CXX) $(COMMON) derivative.cc -lmujoco_nogl -fopenmp -o ../bin/derivative
$(CXX) $(COMMON) basic.cc -lmujoco -lGL -lglew -lglfw -o ../bin/basic
$(CXX) $(COMMON) record.cc -lmujoco -lGL -lglew -lglfw -o ../bin/record
$(CC) -c -O2 -I../include uitools.c
$(CXX) $(COMMON) uitools.o simulate.cc -lmujoco -lGL -lglew -lglfw -o ../bin/simulate
rm *.o
sample/Makefile.macos
+18 -9
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@@ -1,12 +1,21 @@
COMMON=-O2 -I../include -L../bin -std=c++11 -stdlib=libc++ -mavx -pthread
# This Makefile assumes that GLFW is installed via Homebrew, and that Homebrew
# packages are installed in /usr/local. If your setup is different, you will
# need to adjust the HOMEBREW variable accordingly.
HOMEBREW?=/usr/local
MUJOCO_LIBDIR=../MuJoCo.Framework/Versions/A
MUJOCO_INCLUDEDIR=../MuJoCo.Framework/Versions/A/Headers
CFLAGS=-O2 -I$(MUJOCO_INCLUDEDIR) -I$(HOMEBREW)/include -pthread
ALLFLAGS=$(CFLAGS) -L$(MUJOCO_LIBDIR) -L$(HOMEBREW)/lib -std=c++11 -stdlib=libc++
all:
clang++ $(COMMON) testxml.cc -lmujoco210nogl -o ../bin/testxml
clang++ $(COMMON) testspeed.cc -lmujoco210nogl -o ../bin/testspeed
clang++ $(COMMON) compile.cc -lmujoco210nogl -o ../bin/compile
clang++ $(COMMON) derivative.cc -lmujoco210nogl -o ../bin/derivative
clang++ $(COMMON) basic.cc -lmujoco210 -lglfw.3 -o ../bin/basic
clang++ $(COMMON) record.cc -lmujoco210 -lglfw.3 -o ../bin/record
clang -c -O2 -mavx -I../include ../include/uitools.c
clang++ $(COMMON) uitools.o simulate.cc -lmujoco210 -lglfw.3 -o ../bin/simulate
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 -c $(CFLAGS) uitools.c
clang++ $(ALLFLAGS) uitools.o simulate.cc -lmujoco.2.1.2 -lglfw -o simulate
rm *.o
sample/Makefile.windows
+15 -7
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@@ -1,11 +1,19 @@
# A copy of the GLFW library is required to build some sample programs.
# If this is not already installed on your system, download the WIN64 archive
# from https://github.com/glfw/glfw/releases, and copy files as follows:
# - Copy the entire `include/GLFW` subdirectory to `mujoco/include/GLFW`.
# - Copy glfw3dll.lib from the subdirectory corresponding into your compiler
# choice to `mujoco/lib/glfw3.lib`.
# - Copy glfw3.dll from the same subdirectory into `mujoco/bin/glfw3.dll`.
COMMON=/O2 /MT /EHsc /arch:AVX /I../include /Fe../bin/
all:
cl $(COMMON) testxml.cc ../bin/mujoco210nogl.lib
cl $(COMMON) testspeed.cc ../bin/mujoco210nogl.lib
cl $(COMMON) compile.cc ../bin/mujoco210nogl.lib
cl $(COMMON) derivative.cc /openmp ../bin/mujoco210nogl.lib
cl $(COMMON) basic.cc ../bin/glfw3.lib ../bin/mujoco210.lib
cl $(COMMON) record.cc ../bin/glfw3.lib ../bin/mujoco210.lib
cl $(COMMON) simulate.cc ../include/uitools.c ../bin/glfw3.lib ../bin/mujoco210.lib
cl $(COMMON) testxml.cc ../lib/mujoco_nogl.lib
cl $(COMMON) testspeed.cc ../lib/mujoco_nogl.lib
cl $(COMMON) compile.cc ../lib/mujoco_nogl.lib
cl $(COMMON) derivative.cc /openmp ../lib/mujoco_nogl.lib
cl $(COMMON) basic.cc ../lib/glfw3.lib ../lib/mujoco.lib
cl $(COMMON) record.cc ../lib/glfw3.lib ../lib/mujoco.lib
cl $(COMMON) simulate.cc uitools.c ../lib/glfw3.lib ../lib/mujoco.lib
del *.obj
sample/basic.cc
+1 -1
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@@ -16,7 +16,7 @@
#include <cstring>
#include "GLFW/glfw3.h"
#include "mujoco.h"
#include <mujoco.h>
// MuJoCo data structures
mjModel* m = NULL; // MuJoCo model
sample/compile.cc
+1 -1
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@@ -17,7 +17,7 @@
#include <cstdio>
#include <cstring>
#include "mujoco.h"
#include <mujoco.h>
// help
const char helpstring[] =
sample/derivative.cc
+5 -5
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@@ -16,7 +16,7 @@
#include <cstdio>
#include <cstring>
#include "mujoco.h"
#include <mujoco.h>
// enable compilation with and without OpenMP support
#if defined(_OPENMP)
@@ -61,7 +61,7 @@ void worker(const mjModel* m, const mjData* dmain, mjData* d, int id) {
int nv = m->nv;
// allocate stack space for result at center
mjMARKSTACK
mjMARKSTACK;
mjtNum* center = mj_stackAlloc(d, nv);
mjtNum* warmstart = mj_stackAlloc(d, nv);
@@ -188,7 +188,7 @@ void worker(const mjModel* m, const mjData* dmain, mjData* d, int id) {
}
}
mjFREESTACK
mjFREESTACK;
}
@@ -222,7 +222,7 @@ void checkderiv(const mjModel* m, mjData* d, mjtNum error[7]) {
int nv = m->nv;
// allocate space
mjMARKSTACK
mjMARKSTACK;
mjtNum* mat = mj_stackAlloc(d, nv*nv);
// get pointers to derivative matrices
@@ -275,7 +275,7 @@ void checkderiv(const mjModel* m, mjData* d, mjtNum error[7]) {
mju_addTo(mat, F0, nv*nv);
error[7] = relnorm(mat, F0, nv*nv);
mjFREESTACK
mjFREESTACK;
}
sample/record.cc
+1 -1
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@@ -16,7 +16,7 @@
#include <cstdlib>
#include <cstring>
#include "mujoco.h"
#include <mujoco.h>
// select EGL, OSMESA or GLFW
#if defined(MJ_EGL)
sample/simulate.cc
+51 -21
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@@ -19,7 +19,7 @@
#include <string>
#include <thread>
#include "mjxmacro.h"
#include <mjxmacro.h>
#include "uitools.h"
#include "array_safety.h"
@@ -34,15 +34,17 @@ const int maxgeom = 5000; // preallocated geom array in mjvScene
const double syncmisalign = 0.1; // maximum time mis-alignment before re-sync
const double refreshfactor = 0.7; // fraction of refresh available for simulation
const int max_slow_down = 128; // maximum slow-down quotient
const double zoom_increment = 0.02; // ratio of single click-wheel zoom increment to vertical extent
// model and data
mjModel* m = NULL;
mjData* d = NULL;
// filename strings
// strings
char filename[kBufSize] = "";
char previous_filename[kBufSize] = "";
char loadError[kBufSize] = "";
// control noise variables
@@ -758,7 +760,7 @@ void makerendering(int oldstate) {
},
{
mjITEM_BUTTON,
"Print camera",
"Copy camera",
2,
NULL,
""
@@ -1067,20 +1069,29 @@ void cleartimers(void) {
// print current camera as MJCF specification
// copy current camera to clipboard as MJCF specification
void printcamera(mjvGLCamera* camera) {
char clipboard[500];
mjtNum cam_right[3];
mjtNum cam_forward[3];
mjtNum cam_up[3];
// get camera spec from the GLCamera
mju_f2n(cam_forward, camera[0].forward, 3);
mju_f2n(cam_up, camera[0].up, 3);
mju_cross(cam_right, cam_forward, cam_up);
std::printf("<camera pos=\"%.3f %.3f %.3f\" xyaxes=\"%.3f %.3f %.3f %.3f %.3f %.3f\"/>\n",
// make MJCF camera spec
mju::sprintf_arr(clipboard,
"<camera pos=\"%.3f %.3f %.3f\" xyaxes=\"%.3f %.3f %.3f %.3f %.3f %.3f\"/>\n",
(camera[0].pos[0] + camera[1].pos[0]) / 2,
(camera[0].pos[1] + camera[1].pos[1]) / 2,
(camera[0].pos[2] + camera[1].pos[2]) / 2,
cam_right[0], cam_right[1], cam_right[2],
camera[0].up[0], camera[0].up[1], camera[0].up[2]);
// copy spec into clipboard
glfwSetClipboardString(window, clipboard);
}
@@ -1134,28 +1145,34 @@ void loadmodel(void) {
}
// load and compile
char error[500] = "";
loadError[0] = '\0';
mjModel* mnew = 0;
if (mju::strlen_arr(filename)>4 &&
!std::strncmp(filename+mju::strlen_arr(filename)-4, ".mjb",
mju::sizeof_arr(filename)-mju::strlen_arr(filename)+4)) {
mnew = mj_loadModel(filename, NULL);
if (!mnew) {
mju::strcpy_arr(error, "could not load binary model");
mju::strcpy_arr(loadError, "could not load binary model");
}
} else {
mnew = mj_loadXML(filename, NULL, error, 500);
mnew = mj_loadXML(filename, NULL, loadError, kBufSize);
// remove trailing newline character from loadError
if (loadError[0]) {
int error_length = mju::strlen_arr(loadError);
if (loadError[error_length-1] == '\n') {
loadError[error_length-1] = '\0';
}
}
}
if (!mnew) {
std::printf("%s\n", error);
std::printf("%s\n", loadError);
return;
}
// compiler warning: print and pause
if (error[0]) {
if (loadError[0]) {
// mj_forward() below will print the warning message
std::printf("Model compiled, but simulation warning (paused):\n %s\n\n",
error);
std::printf("Model compiled, but simulation warning (paused):\n %s\n", loadError);
settings.run = 0;
}
@@ -1594,8 +1611,8 @@ void uiEvent(mjuiState* state) {
// 3D scroll
if (state->type==mjEVENT_SCROLL && state->mouserect==3 && m) {
// emulate vertical mouse motion = 5% of window height
mjv_moveCamera(m, mjMOUSE_ZOOM, 0, -0.05*state->sy, &scn, &cam);
// emulate vertical mouse motion = 2% of window height
mjv_moveCamera(m, mjMOUSE_ZOOM, 0, -zoom_increment*state->sy, &scn, &cam);
return;
}
@@ -1797,12 +1814,19 @@ void render(GLFWwindow* window) {
mjr_rectangle(rect, 0.2f, 0.3f, 0.4f, 1);
// label
if (settings.loadrequest)
mjr_overlay(mjFONT_BIG, mjGRID_TOPRIGHT, smallrect,
"loading", NULL, &con);
else
mjr_overlay(mjFONT_NORMAL, mjGRID_TOPLEFT, rect,
"Drag-and-drop model file here", 0, &con);
if (settings.loadrequest) {
mjr_overlay(mjFONT_BIG, mjGRID_TOPRIGHT, smallrect, "loading", NULL, &con);
} else {
char intro_message[kBufSize];
mju::sprintf_arr(intro_message,
"MuJoCo version %s\nDrag-and-drop model file here", mj_versionString());
mjr_overlay(mjFONT_NORMAL, mjGRID_TOPLEFT, rect, intro_message, 0, &con);
}
// show last loading error
if (loadError[0]) {
mjr_overlay(mjFONT_NORMAL, mjGRID_BOTTOMLEFT, rect, loadError, 0, &con);
}
// render uis
if (settings.ui0) {
@@ -1821,10 +1845,16 @@ void render(GLFWwindow* window) {
// render scene
mjr_render(rect, &scn, &con);
// show last loading error
if (loadError[0]) {
mjr_overlay(mjFONT_NORMAL, mjGRID_BOTTOMLEFT, rect, loadError, 0, &con);
}
// show pause/loading label
if (!settings.run || settings.loadrequest)
if (!settings.run || settings.loadrequest) {
mjr_overlay(mjFONT_BIG, mjGRID_TOPRIGHT, smallrect,
settings.loadrequest ? "loading" : "pause", NULL, &con);
}
// show realtime label
if (settings.run && settings.slow_down != 1) {
sample/testspeed.cc
+11 -8
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@@ -18,18 +18,21 @@
#include <string>
#include <thread>
#include "mujoco.h"
#include <mujoco.h>
// maximum number of threads
const int maxthread = 512;
// model and per-thread data
mjModel* m = NULL;
mjData* d[64];
mjData* d[maxthread];
// per-thread statistics
int contacts[64];
int constraints[64];
double simtime[64];
int contacts[maxthread];
int constraints[maxthread];
double simtime[maxthread];
// timer
@@ -121,8 +124,8 @@ int main(int argc, const char** argv) {
// clamp ctrlnoise to [0.0, 1.0]
ctrlnoise = mjMAX(0.0, mjMIN(ctrlnoise, 1.0));
// clamp nthread to [1, 64]
nthread = mjMAX(1, mjMIN(64, nthread));
// clamp nthread to [1, maxthread]
nthread = mjMAX(1, mjMIN(maxthread, nthread));
// get filename, determine file type
std::string filename(argv[1]);
@@ -169,7 +172,7 @@ int main(int argc, const char** argv) {
}
// run simulation, record total time
std::thread th[64];
std::thread th[maxthread];
double starttime = gettm();
for (int id=0; id<nthread; id++) {
th[id] = std::thread(simulate, id, nstep, ctrlnoise);
sample/testxml.cc
+2 -2
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@@ -17,8 +17,8 @@
#include <cstring>
#include <string>
#include "mjxmacro.h"
#include "mujoco.h"
#include <mjxmacro.h>
#include <mujoco.h>
#include "array_safety.h"
namespace mju = ::mujoco::sample_util;
sample/uitools.h
+1 -1
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@@ -17,7 +17,7 @@
#include "GLFW/glfw3.h"
#include "mujoco.h"
#include <mujoco.h>
// this is a C-API
#if defined(__cplusplus)