Merge branch 'deepmind:main' into usd-integration

python/mujoco/bindings_test.py

@@ -948,7 +948,7 @@ Euler integrator, semi-implicit in velocity.
   def test_can_raise_error(self):
     self.data.pstack = self.data.narena
     with self.assertRaisesRegex(mujoco.FatalError,
-                                r'\AmjData stack overflow'):
+                                r'\Amj_stackAlloc: insufficient memory:'):
       mujoco.mj_forward(self.model, self.data)
 
   def test_mjcb_time(self):

python/mujoco/simulate.cc

@@ -31,6 +31,7 @@
 
 namespace mujoco::python {
 namespace {
+using UIAdapter = mujoco::GlfwAdapter;
 namespace py = ::pybind11;
 
 template <typename T, int N>
@@ -196,7 +197,7 @@ PYBIND11_MODULE(_simulate, pymodule) {
                        py::object pert, bool fully_managed,
                        py::object key_callback) {
         return std::make_unique<SimulateWrapper>(
-            std::make_unique<UIAdapterWithPyCallback<mujoco::GlfwAdapter>>(
+            std::make_unique<UIAdapterWithPyCallback<UIAdapter>>(
                 key_callback),
             scn, cam, opt, pert, fully_managed);
       }))

python/mujoco/viewer.py

@@ -236,7 +236,7 @@ def _physics_loop(simulate: _Simulate, loader: Optional[_InternalLoaderType]):
         assert d is not None
         if simulate.run:
           # Record CPU time at start of iteration.
-          startcpu = glfw.get_time()
+          startcpu = time.time()
 
           elapsedcpu = startcpu - synccpu
           elapsedsim = d.time - syncsim
@@ -281,8 +281,8 @@ def _physics_loop(simulate: _Simulate, loader: Optional[_InternalLoaderType]):
             refreshtime = SIM_REFRESH_FRACTION / simulate.refresh_rate
             # Step while sim lags behind CPU and within refreshtime.
             while (((d.time - syncsim) * slowdown <
-                    (glfw.get_time() - synccpu)) and
-                   ((glfw.get_time() - startcpu) < refreshtime)):
+                    (time.time() - synccpu)) and
+                   ((time.time() - startcpu) < refreshtime)):
               # Measure slowdown before first step.
               if not measured and elapsedsim:
                 simulate.measured_slowdown = elapsedcpu / elapsedsim
@@ -349,7 +349,6 @@ def _launch_internal(
     notify_loaded = (
         lambda: handle_return.put_nowait(Handle(simulate, scn, cam, opt, pert)))
 
-  side_thread = None
   if run_physics_thread:
     side_thread = threading.Thread(
         target=_physics_loop, args=(simulate, loader))
@@ -427,6 +426,7 @@ def launch_passive(
 
 
 if __name__ == '__main__':
+  # pylint: disable=g-bad-import-order
   from absl import app  # pylint: disable=g-import-not-at-top
   from absl import flags  # pylint: disable=g-import-not-at-top