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Merge branch 'google-deepmind:main' into main

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This commit is contained in:
Abhishek Joshi
2024-05-01 16:27:16 -05:00
committed by GitHub
parent 5b94a19bf8 dc68bc6c13
commit 545c6fdc99
143 changed files with 16311 additions and 6848 deletions
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python/mujoco/CMakeLists.txt
+3 -3
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@@ -84,7 +84,7 @@ if(NOT TARGET mujoco)
if(MUJOCO_FRAMEWORK)
message("MuJoCo framework is at ${MUJOCO_FRAMEWORK}/mujoco.framework")
set(MUJOCO_LIBRARY
${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.1.4.dylib
${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.1.5.dylib
)
target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK})
endif()
@@ -92,7 +92,7 @@ if(NOT TARGET mujoco)
if(NOT MUJOCO_FRAMEWORK)
find_library(
MUJOCO_LIBRARY mujoco mujoco.3.1.4 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
MUJOCO_LIBRARY mujoco mujoco.3.1.5 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
)
find_path(MUJOCO_INCLUDE mujoco/mujoco.h HINTS ${MUJOCO_INCLUDE_DIR} REQUIRED)
message("MuJoCo is at ${MUJOCO_LIBRARY}")
@@ -191,7 +191,7 @@ findorfetch(
GIT_REPO
https://github.com/pybind/pybind11
GIT_TAG
8a099e44b3d5f85b20f05828d919d2332a8de841 # v2.11.1
3e9dfa2866941655c56877882565e7577de6fc7b # v2.12.0
TARGETS
pybind11::pybind11_headers
EXCLUDE_FROM_ALL
python/mujoco/bindings_test.py
+17
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@@ -1303,6 +1303,23 @@ Euler integrator, semi-implicit in velocity.
mat = np.array([[1., 2., 3.], [4., 5., 6.], [7., 8., 9.]])
self.assertEqual(mujoco.mju_mulVecMatVec(vec1, mat, vec2), 204.)
def test_mju_euler_to_quat(self):
quat = np.zeros(4)
euler = np.array([0, np.pi/2, 0])
seq = 'xyz'
mujoco.mju_euler2Quat(quat, euler, seq)
expected_quat = np.array([np.sqrt(0.5), 0, np.sqrt(0.5), 0.])
np.testing.assert_almost_equal(quat, expected_quat)
error = 'mju_euler2Quat: seq must contain exactly 3 characters'
with self.assertRaisesWithLiteralMatch(mujoco.FatalError, error):
mujoco.mju_euler2Quat(quat, euler, 'xy')
with self.assertRaisesWithLiteralMatch(mujoco.FatalError, error):
mujoco.mju_euler2Quat(quat, euler, 'xyzy')
error = 'mju_euler2Quat: seq[2] is \'p\', should be one of x, y, z, X, Y, Z'
with self.assertRaisesWithLiteralMatch(mujoco.FatalError, error):
mujoco.mju_euler2Quat(quat, euler, 'xYp')
@parameterized.product(flg_html=(False, True), flg_pad=(False, True))
def test_mj_printSchema(self, flg_html, flg_pad): # pylint: disable=invalid-name
# Make sure that mj_printSchema doesn't raise an exception
python/mujoco/functions.cc
+11 -6
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@@ -106,11 +106,11 @@ PYBIND11_MODULE(_functions, pymodule) {
Def<traits::mj_defaultOption>(pymodule);
Def<traits::mj_defaultVisual>(pymodule);
// Skipped: mj_copyModel (have MjModel.__copy__, memory managed by MjModel)
DEF_WITH_OMITTED_PY_ARGS(traits::mj_saveModel, "buffer_sz")(
pymodule,
[](const raw::MjModel* m, const std::optional<std::string>& filename,
pymodule.def(
"mj_saveModel",
[](const MjModelWrapper& m, const std::optional<std::string>& filename = std::nullopt,
std::optional<
Eigen::Ref<Eigen::Vector<std::uint8_t, Eigen::Dynamic>>> buffer) {
Eigen::Ref<Eigen::Vector<std::uint8_t, Eigen::Dynamic>>> buffer = std::nullopt) {
void* buffer_ptr = nullptr;
int buffer_sz = 0;
if (buffer.has_value()) {
@@ -118,9 +118,13 @@ PYBIND11_MODULE(_functions, pymodule) {
buffer_sz = buffer->size();
}
return InterceptMjErrors(::mj_saveModel)(
m, filename.has_value() ? filename->c_str() : nullptr,
m.get(), filename.has_value() ? filename->c_str() : nullptr,
buffer_ptr, buffer_sz);
});
},
py::arg("m"), py::arg_v("filename", std::nullopt),
py::arg_v("buffer", std::nullopt),
py::doc(traits::mj_saveModel::doc),
py::call_guard<py::gil_scoped_release>());
// Skipped: mj_loadModel (have MjModel.from_binary_path)
// Skipped: mj_deleteModel (have MjModel.__del__)
Def<traits::mj_sizeModel>(pymodule);
@@ -995,6 +999,7 @@ PYBIND11_MODULE(_functions, pymodule) {
Def<traits::mju_derivQuat>(pymodule);
Def<traits::mju_quatIntegrate>(pymodule);
Def<traits::mju_quatZ2Vec>(pymodule);
Def<traits::mju_euler2Quat>(pymodule);
// Poses
Def<traits::mju_mulPose>(pymodule);
python/mujoco/mjpython/Info.plist
+4 -4
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@@ -7,13 +7,13 @@
<key>CFBundleIdentifier</key>
<string>org.mujoco.mjpython</string>
<key>CFBundleVersion</key>
<string>3.1.4</string>
<string>3.1.5</string>
<key>CFBundleGetInfoString</key>
<string>3.1.4</string>
<string>3.1.5</string>
<key>CFBundleLongVersionString</key>
<string>3.1.4</string>
<string>3.1.5</string>
<key>CFBundleShortVersionString</key>
<string>3.1.4</string>
<string>3.1.5</string>
<key>CFBundleExecutable</key>
<string>mjpython</string>
<key>CFBundleIconFile</key>
python/mujoco/renderer.py
+9 -4
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@@ -78,8 +78,11 @@ the clause:
# Create render contexts.
# TODO(nimrod): Figure out why pytype doesn't like gl_context.GLContext
self._gl_context = gl_context.GLContext(width, height) # type: ignore
self._gl_context.make_current()
self._gl_context = None # type: ignore
if gl_context.GLContext is not None:
self._gl_context = gl_context.GLContext(width, height)
if self._gl_context:
self._gl_context.make_current()
self._mjr_context = _render.MjrContext(
model, _enums.mjtFontScale.mjFONTSCALE_150.value
)
@@ -148,9 +151,11 @@ the clause:
self._scene.flags[_enums.mjtRndFlag.mjRND_SEGMENT] = True
self._scene.flags[_enums.mjtRndFlag.mjRND_IDCOLOR] = True
if self._gl_context is None:
if self._mjr_context is None:
raise RuntimeError('render cannot be called after close.')
self._gl_context.make_current()
if self._gl_context:
self._gl_context.make_current()
if self._depth_rendering:
out_shape = (self._height, self._width)
python/mujoco/structs.cc
+1
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@@ -2226,6 +2226,7 @@ This is useful for example when the MJB is not available as a file on disk.)"));
X(headlight);
X(directional);
X(castshadow);
X(bulbradius);
#undef X
#define X(var) DefinePyArray(mjvLight, #var, &MjvLightWrapper::var)