Version 2.1.5: Fix GLAD loading on Linux, experimental multi-CCD.
PiperOrigin-RevId: 441482552 Change-Id: I16b7ba81cd81ca2293a9a12bfa08a40ab24c70bb
This commit is contained in:
Saran Tunyasuvunakool
+24
-21
@@ -111,7 +111,10 @@ mjtEnableBit
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mjENBL_FWDINV = 1<<2, // compare forward and inverse dynamics
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mjENBL_SENSORNOISE = 1<<3, // add noise to sensor data
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mjNENABLE = 4 // number of enable flags
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// experimental features:
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mjENBL_MULTICCD = 1<<30, // multi-point convex collision detection
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mjNENABLE = 5 // number of enable flags
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} mjtEnableBit;
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| Defined in `mjmodel.h <https://github.com/deepmind/mujoco/blob/main/include/mjmodel.h>`_
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@@ -2898,13 +2901,13 @@ mjcb_control
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extern mjfGeneric mjcb_control;
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| This is the most commonly used callback. It implements a control law, by writing in the vector of controls
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``mjData.ctrl``. It can also write in ``mjData.qfrc_applied`` and ``mjData.xfrc_applied``. The values written in these
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vectors can depend on position, velocity and all other quantities derived from them, but cannot depend on contact
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forces and other quantities that are computed after the control is specified. If the callback accesses the latter
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fields, their values do not correspond to the current time step.
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This is the most commonly used callback. It implements a control law, by writing in the vector of controls
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``mjData.ctrl``. It can also write in ``mjData.qfrc_applied`` and ``mjData.xfrc_applied``. The values written in these
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vectors can depend on position, velocity and all other quantities derived from them, but cannot depend on contact forces
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and other quantities that are computed after the control is specified. If the callback accesses the latter fields, their
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values do not correspond to the current time step.
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| The control callback is called from within :ref:`mj_forward` and :ref:`mj_step`, just before the controls and applied
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The control callback is called from within :ref:`mj_forward` and :ref:`mj_step`, just before the controls and applied
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forces are needed. When using the RK integrator, it will be called 4 times per step. The alternative way of specifying
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controls and applied forces is to set them before ``mj_step``, or use ``mj_step1`` and ``mj_step2``. The latter approach
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allows setting the controls after the position and velocity computations have been performed by ``mj_step1``, allowing
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@@ -3411,7 +3414,7 @@ Print internal XML schema as plain text or HTML, with style-padding or `` `
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Main simulation
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^^^^^^^^^^^^^^^
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| These are the main entry points to the simulator. Most users will only need to call ``mj_step``, which computes
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These are the main entry points to the simulator. Most users will only need to call ``mj_step``, which computes
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everything and advanced the simulation state by one time step. Controls and applied forces must either be set in advance
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(in mjData.ctrl, qfrc_applied and xfrc_applied), or a control callback mjcb_control must be installed which will be
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called just before the controls and applied forces are needed. Alternatively, one can use ``mj_step1`` and ``mj_step2``
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@@ -3419,21 +3422,21 @@ which break down the simulation pipeline into computations that are executed bef
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in this way one can set controls that depend on the results from ``mj_step1``. Keep in mind though that the RK4 solver
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does not work with mj_step1/2.
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| mj_forward performs the same computations as ``mj_step`` but without the integration. It is useful after loading or
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resetting a model (to put the entire mjData in a valid state), and also for out-of-order computations that involve
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sampling or finite-difference approximations.
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mj_forward performs the same computations as ``mj_step`` but without the integration. It is useful after loading or
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resetting a model (to put the entire mjData in a valid state), and also for out-of-order computations that involve
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sampling or finite-difference approximations.
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| mj_inverse runs the inverse dynamics, and writes its output in mjData.qfrc_inverse. Note that mjData.qacc must be set
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before calling this function. Given the state (qpos, qvel, act), mj_forward maps from force to acceleration, while
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mj_inverse maps from acceleration to force. Mathematically these functions are inverse of each other, but numerically
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this may not always be the case because the forward dynamics rely on a constraint optimization algorithm which is
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usually terminated early. The difference between the results of forward and inverse dynamics can be computed with the
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function :ref:`mj_compareFwdInv`, which can be though of as another solver accuracy check (as well as a general sanity
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check).
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mj_inverse runs the inverse dynamics, and writes its output in mjData.qfrc_inverse. Note that mjData.qacc must be set
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before calling this function. Given the state (qpos, qvel, act), mj_forward maps from force to acceleration, while
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mj_inverse maps from acceleration to force. Mathematically these functions are inverse of each other, but numerically
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this may not always be the case because the forward dynamics rely on a constraint optimization algorithm which is
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usually terminated early. The difference between the results of forward and inverse dynamics can be computed with the
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function :ref:`mj_compareFwdInv`, which can be though of as another solver accuracy check (as well as a general sanity
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check).
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| The skip version of mj_forward and mj_inverse are useful for example when qpos was unchanged but qvel was changed
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(usually in the context of finite differencing). Then there is no point repeating the computations that only depend on
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qpos. Calling the dynamics with skipstage = mjSTAGE_POS will achieve these savings.
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The skip version of mj_forward and mj_inverse are useful for example when qpos was unchanged but qvel was changed
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(usually in the context of finite differencing). Then there is no point repeating the computations that only depend on
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qpos. Calling the dynamics with skipstage = mjSTAGE_POS will achieve these savings.
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.. _mj_step:
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+10
-2
@@ -99,7 +99,7 @@ XML schema
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| | | +-------------------------+-------------------------+-------------------------+ |
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| | | | :at:`override` | :at:`energy` | :at:`fwdinv` | |
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| | | +-------------------------+-------------------------+-------------------------+ |
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| | | | :at:`sensornoise` | | | |
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| | | | :at:`sensornoise` | :at:`multiccd` | | |
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| | | +-------------------------+-------------------------+-------------------------+ |
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+--------------------------+----+------------------------------------------------------------------------------------+
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| |_|:el:`size` | \* | .. table:: |
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@@ -1791,11 +1791,19 @@ from its default.
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This flag enables the simulation of sensor noise. When disabled (which is the default) noise is not added to
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sensordata, even if the sensors specify non-zero noise amplitudes. When enabled, zero-mean Gaussian noise is added to
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the underlying deterministic sensor data. Its standard deviation is determined by the noise parameter of each sensor.
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:at:`multiccd`: :at-val:`[disable, enable], "disable"` **(experimental feature)**
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This flag enables multiple-contact collision detection for geom pairs that use the general-purpose convex-convex
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collider based on :ref:`libccd <coChecking>` e.g., mesh-mesh collisions. This can be useful when the contacting geoms
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have a flat surface, and the single contact point generated by the convex-convex collider cannot accurately capture
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the surface contact, leading to instabilities that typically manifest as sliding or wobbling. Multiple contact points
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are found by rotating the two geoms by ±1e-3 radians around the tangential axes and re-running the collision
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function. If a new contact is detected it is added, allowing for up to 4 additional contact points. This feature is
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currently considered experimental, and both the behavior and the way it is activated may change in the future.
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.. _size:
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**size** (*)
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~~~~~~~~~~~~~~~~~~~~~~~~~
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~~~~~~~~~~~~
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This element specifies size parameters that cannot be inferred from the number of elements in the model. Unlike the
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fields of mjOption which can be modified at runtime, sizes are structural parameters and should not be modified after
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+30
-9
@@ -2,17 +2,38 @@
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Changelog
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=========
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Version 2.1.4 (Apr. 4, 2022)
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Version 2.1.5 (Apr. 13, 2022)
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-----------------------------
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General
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^^^^^^^
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1. Added an experimental feature: multi-contact convex collision detection, activated by an enable flag. See full
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description :ref:`here <option-flag>`.
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Bug fixes
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^^^^^^^^^
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2. GLAD initialization logic on Linux now calls ``dlopen`` to load a GL platform dynamic library if a
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``*GetProcAddress`` function is not already present in the process' global symbol table. In particular, processes
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that use GLFW to set up a rendering context that are not explicitly linked against ``libGLX.so`` (this applies to the
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Python interpreter, for example) will now work correctly rather than fail with a ``gladLoadGL`` error when
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``mjr_makeContext`` is called.
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#. In the Python bindings, named indexers for scalar fields (e.g. the ``ctrl`` field for actuators) now return a NumPy
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array of shape ``(1,)`` rather than ``()``. This allows values to be assigned to these fields more straightforwardly.
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Version 2.1.4 (Apr. 4, 2022)
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----------------------------
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General
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^^^^^^^
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1. MuJoCo now uses GLAD to manage OpenGL API access instead of GLEW. On Linux, there is no longer a need to link against
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different GL wrangling libraries depending on whether GLX, EGL, or OSMesa is being used. Instead, users can simply
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use GLX, EGL, or OSMesa to create a GL context and ``mjr_makeContext`` will detect which one is being used.
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#. Add visualisation for contact frames. This is useful when writing or modifying collision functions, when the actual
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#. Added visualisation for contact frames. This is useful when writing or modifying collision functions, when the actual
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direction of the x and y axes of a contact can be important.
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Binary build
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@@ -26,13 +47,13 @@ Binary build
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Simulate
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^^^^^^^^
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4. Fix a bug in simulate where pressing '[' or ']' when a model is not loaded causes a crash.
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4. Fixed a bug in simulate where pressing '[' or ']' when a model is not loaded causes a crash.
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#. Contact frame visualisation is added to the Simulate GUI.
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#. Contact frame visualisation was added to the Simulate GUI.
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#. Rename "set key", "reset to key" to "save key" and "load key", respectively.
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#. Renamed "set key", "reset to key" to "save key" and "load key", respectively.
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#. Change bindings of F6 and F7 from the not very useful "vertical sync" and "busy wait" to the more useful cycling of
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#. Changed bindings of F6 and F7 from the not very useful "vertical sync" and "busy wait" to the more useful cycling of
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frames and labels.
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Bug fixes
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@@ -40,7 +61,7 @@ Bug fixes
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8. ``mj_resetData`` zeroes out the ``solver_nnz`` field.
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#. Remove a special branch in ``mju_quat2mat`` for unit quaternions. Previously, ``mju_quat2mat`` skipped all
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#. Removed a special branch in ``mju_quat2mat`` for unit quaternions. Previously, ``mju_quat2mat`` skipped all
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computation if the real part of the quaternion equals 1.0. For very small angles (e.g. when finite differencing), the
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cosine can evaluate to exactly 1.0 at double precision while the sine is still nonzero.
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@@ -57,13 +78,13 @@ General
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Python bindings
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^^^^^^^^^^^^^^^
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3. Add a ``free()`` method to ``MjrContext``.
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3. Added a ``free()`` method to ``MjrContext``.
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#. Enums now support arithmetic and bitwise operations with numbers.
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Bug fixes
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^^^^^^^^^
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5. Fix rendering bug for planes, introduced in 2.1.2. This broke maze environments in
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5. Fixed rendering bug for planes, introduced in 2.1.2. This broke maze environments in
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`dm_control <https://github.com/deepmind/dm_control>`_.
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+26
-9
@@ -354,15 +354,15 @@ purpose of including an asset is to reference it, and referencing can only be do
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undefined.
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Mesh
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MuJoCo can load triangulated meshes from binary STL files. Software such as `MeshLab <https://www.meshlab.net/>`__
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can be used to convert from other formats. While any collection of triangles can be loaded and visualized as a mesh,
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the collision detector works with the convex hull. There are compile-time options for scaling the mesh, as well as
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fitting a primitive geometric shape to it. The mesh can also be used to automatically infer inertial properties - by
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treating it as a union of triangular pyramids and combining their masses and inertias. Note that the STL format does
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not support color; some software packages write color information in unused fields but this is not consistent.
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Instead the mesh is colored using the material properties of the referencing geom. In contrast, all spatial
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properties are determined by the mesh data. MuJoCo supports a custom binary file format that can additionally specify
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normals and texture coordinates. Meshes can also be embedded directly in the XML.
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MuJoCo can load triangulated meshes from OBJ files and binary STL. Software such as `MeshLab
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<https://www.meshlab.net/>`__ can be used to convert from other formats. While any collection of triangles can be
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loaded and visualized as a mesh, the collision detector works with the convex hull. There are compile-time options
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for scaling the mesh, as well as fitting a primitive geometric shape to it. The mesh can also be used to
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automatically infer inertial properties -- by treating it as a union of triangular pyramids and combining their
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masses and inertias. Note that meshes have no color, instead the mesh is colored using the material properties of the
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referencing geom. In contrast, all spatial properties are determined by the mesh data. MuJoCo supports both OBJ and a
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custom binary file format for normals and texture coordinates. Meshes can also be embedded directly in the XML.
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Skin
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Skinned meshes (or skins) are meshes whose shape can deform at runtime. Their vertices are attached to rigid bodies
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@@ -593,6 +593,23 @@ section is to preemptively clarify the aspects that are most likely to be confus
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and a tutorial on selected topics. We will need to refer to material covered later in the documentation, but
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nevertheless the text below is as self-contained and introductory as possible.
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.. _Divergence:
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Divergence
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~~~~~~~~~~
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Divergence of a simulation happens when elements of the state tend quickly to infinity. In MuJoCo this is usually
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manifested as an :ref:`mjWARN_BADQACC<mjtwarning>` warning. Divergence is endemic to all physics simulation and is not
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necessarily indicative of a bad model or bug in the simulator, but is rather a hint that the timestep is too large for
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the given choice of integrator. In physics simulation there is always a tension between speed (large time steps) and
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stabillity (small timesteps). A model which is well-tuned for speed has the largest possible timestep that does not
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diverge, which usually means that it *can* be made to diverge under extreme conditions. In that sense *rare* cases of
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divergence can actually be indicative of a well-tuned model. In all cases it should be possible to prevent divergence by
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reducing the timestep and/or switching to a more stable :ref:`integrator <geIntegration>`. If that fails, the culprit is
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different. For example in models where bodies are initialized in penetration, large repulsive forces could push them
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away and cause divergence.
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.. _Units:
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Units are undefined
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+2
-2
@@ -19,9 +19,9 @@ library:
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Windows: mujoco.dll (stub library: mujoco.lib)
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Linux: mujoco.so.2.1.4
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Linux: mujoco.so.2.1.5
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macOS: mujoco.2.1.4.dylib
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macOS: mujoco.2.1.5.dylib
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Even though MuJoCo is a single dynamic library with unified C API, it contains several modules, some of which are
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implemented in C++. We have taken advantage of the convenience of C++ for functionality that is used before the
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+2
-2
@@ -29,14 +29,14 @@ _____
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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
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a trusted binary. Then, copy the dynamic library file from
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``/Applications/MuJoCo.app/Contents/Frameworks/MuJoCo.framework/Versions/Current/libmujoco.2.1.4.dylib`` (it can be
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``/Applications/MuJoCo.app/Contents/Frameworks/MuJoCo.framework/Versions/Current/libmujoco.2.1.5.dylib`` (it can be
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found by browsing the contents of ``MuJoCo.app``) and rename it as ``mujoco.dylib``.
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Linux
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_____
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Expand the ``tar.gz`` archive to ``~/.mujoco``. Then copy the dynamic library from
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``~/.mujoco/mujoco-2.1.4/lib/libmujoco.so.2.1.4`` and rename it as ``libmujoco.so``.
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``~/.mujoco/mujoco-2.1.5/lib/libmujoco.so.2.1.5`` and rename it as ``libmujoco.so``.
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Windows
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_______
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+4
-1
@@ -69,7 +69,10 @@ typedef enum mjtEnableBit_ { // enable optional feature bitflags
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mjENBL_FWDINV = 1<<2, // record solver statistics
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mjENBL_SENSORNOISE = 1<<3, // add noise to sensor data
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mjNENABLE = 4 // number of enable flags
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// experimental features:
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mjENBL_MULTICCD = 1<<30, // multi-point convex collision detection
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mjNENABLE = 5 // number of enable flags
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} mjtEnableBit;
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+1
-1
@@ -24,7 +24,7 @@ extern "C" {
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#endif
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// header version; should match the library version as returned by mj_version()
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#define mjVERSION_HEADER 214
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#define mjVERSION_HEADER 215
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// needed to define size_t, fabs and log10
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#include "stdlib.h"
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+2
-1
@@ -51,7 +51,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
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('mjENBL_ENERGY', 2),
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('mjENBL_FWDINV', 4),
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('mjENBL_SENSORNOISE', 8),
|
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('mjNENABLE', 4),
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('mjENBL_MULTICCD', 1073741824),
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('mjNENABLE', 5),
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]),
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)),
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('mjtJoint',
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@@ -42,7 +42,8 @@ class EnumsTest(absltest.TestCase):
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('mjENBL_ENERGY', 1<<1),
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('mjENBL_FWDINV', 1<<2),
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('mjENBL_SENSORNOISE', 1<<3),
|
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('mjNENABLE', 4)))
|
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('mjENBL_MULTICCD', 1<<30),
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('mjNENABLE', 5)))
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# values mostly increment by one with occasional overrides
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def test_mjtGeom(self): # pylint: disable=invalid-name
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@@ -55,7 +55,7 @@ include(FindOrFetch)
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|
||||
# ==================== MUJOCO LIBRARY ==========================================
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if(NOT TARGET mujoco)
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find_library(MUJOCO_LIBRARY mujoco mujoco.2.1.4 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED)
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find_library(MUJOCO_LIBRARY mujoco mujoco.2.1.5 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED)
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find_path(MUJOCO_INCLUDE mujoco.h HINTS ${MUJOCO_INCLUDE_DIR} REQUIRED)
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message("MuJoCo is at ${MUJOCO_LIBRARY}")
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message("MuJoCo headers are at ${MUJOCO_INCLUDE}")
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@@ -660,7 +660,7 @@ Euler integrator, semi-implicit in velocity.
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self.assertEqual(mujoco.mjtEnableBit.mjENBL_ENERGY, 1<<1)
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self.assertEqual(mujoco.mjtEnableBit.mjENBL_FWDINV, 1<<2)
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self.assertEqual(mujoco.mjtEnableBit.mjENBL_SENSORNOISE, 1<<3)
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self.assertEqual(mujoco.mjtEnableBit.mjNENABLE, 4)
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self.assertEqual(mujoco.mjtEnableBit.mjNENABLE, 5)
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self.assertEqual(mujoco.mjtGeom.mjGEOM_PLANE, 0)
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self.assertEqual(mujoco.mjtGeom.mjGEOM_HFIELD, 1)
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self.assertEqual(mujoco.mjtGeom.mjGEOM_SPHERE, 2)
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@@ -672,11 +672,6 @@ Euler integrator, semi-implicit in velocity.
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def test_enum_from_int(self):
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self.assertEqual(mujoco.mjtJoint.mjJNT_FREE, mujoco.mjtJoint(0))
|
||||
self.assertEqual(mujoco.mjtGeom.mjGEOM_ARROW, mujoco.mjtGeom(value=100))
|
||||
# mjENABLE_FWDINV and mjNENABLE have the same int value. Default to the
|
||||
# first defined one.
|
||||
self.assertEqual(
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mujoco.mjtEnableBit.mjENBL_FWDINV,
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mujoco.mjtEnableBit(mujoco.mjtEnableBit.mjNENABLE.value))
|
||||
with self.assertRaises(ValueError):
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mujoco.mjtJoint(1000)
|
||||
with self.assertRaises(ValueError):
|
||||
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||||
+1
-1
@@ -30,7 +30,7 @@ from setuptools import find_packages
|
||||
from setuptools import setup
|
||||
from setuptools.command import build_ext
|
||||
|
||||
__version__ = '2.1.4'
|
||||
__version__ = '2.1.5'
|
||||
|
||||
MUJOCO_CMAKE = 'MUJOCO_CMAKE'
|
||||
MUJOCO_CMAKE_ARGS = 'MUJOCO_CMAKE_ARGS'
|
||||
|
||||
+7
-7
@@ -5,12 +5,12 @@
|
||||
COMMON=-O2 -I../include -L../lib -std=c++11 -pthread -Wl,-no-as-needed -Wl,-rpath,'$$ORIGIN'/../lib
|
||||
|
||||
all:
|
||||
$(CXX) $(COMMON) testxml.cc -lmujoco -o ../bin/testxml
|
||||
$(CXX) $(COMMON) testspeed.cc -lmujoco -o ../bin/testspeed
|
||||
$(CXX) $(COMMON) compile.cc -lmujoco -o ../bin/compile
|
||||
$(CXX) $(COMMON) derivative.cc -lmujoco -fopenmp -o ../bin/derivative
|
||||
$(CXX) $(COMMON) basic.cc -lmujoco -lGL -lglfw -o ../bin/basic
|
||||
$(CXX) $(COMMON) record.cc -lmujoco -lGL -lglfw -o ../bin/record
|
||||
$(CXX) $(COMMON) testxml.cc -lmujoco -o ../bin/testxml
|
||||
$(CXX) $(COMMON) testspeed.cc -lmujoco -o ../bin/testspeed
|
||||
$(CXX) $(COMMON) compile.cc -lmujoco -o ../bin/compile
|
||||
$(CXX) $(COMMON) derivative.cc -lmujoco -fopenmp -o ../bin/derivative
|
||||
$(CXX) $(COMMON) basic.cc -lmujoco -lglfw -o ../bin/basic
|
||||
$(CXX) $(COMMON) record.cc -lmujoco -lglfw -o ../bin/record
|
||||
$(CC) -c -O2 -I../include uitools.c
|
||||
$(CXX) $(COMMON) uitools.o simulate.cc -lmujoco -lGL -lglfw -o ../bin/simulate
|
||||
$(CXX) $(COMMON) uitools.o simulate.cc -lmujoco -lglfw -o ../bin/simulate
|
||||
rm *.o
|
||||
|
||||
@@ -12,12 +12,12 @@ CFLAGS=-O2 -I$(MUJOCO_INCLUDEDIR) -I$(HOMEBREW)/include -pthread
|
||||
ALLFLAGS=$(CFLAGS) -L$(MUJOCO_LIBDIR) -L$(HOMEBREW)/lib -std=c++11 -stdlib=libc++ -Wl,-rpath,/Applications/MuJoCo.app/Contents/Frameworks
|
||||
|
||||
all:
|
||||
clang++ $(ALLFLAGS) testxml.cc -lmujoco.2.1.4 -o testxml
|
||||
clang++ $(ALLFLAGS) testspeed.cc -lmujoco.2.1.4 -o testspeed
|
||||
clang++ $(ALLFLAGS) compile.cc -lmujoco.2.1.4 -o compile
|
||||
clang++ $(ALLFLAGS) derivative.cc -lmujoco.2.1.4 -o derivative
|
||||
clang++ $(ALLFLAGS) basic.cc -lmujoco.2.1.4 -lglfw -o basic
|
||||
clang++ $(ALLFLAGS) record.cc -lmujoco.2.1.4 -lglfw -o record
|
||||
clang -c $(CFLAGS) uitools.c
|
||||
clang++ $(ALLFLAGS) uitools.o simulate.cc -lmujoco.2.1.4 -lglfw -o simulate
|
||||
clang++ $(ALLFLAGS) testxml.cc -lmujoco.2.1.5 -o testxml
|
||||
clang++ $(ALLFLAGS) testspeed.cc -lmujoco.2.1.5 -o testspeed
|
||||
clang++ $(ALLFLAGS) compile.cc -lmujoco.2.1.5 -o compile
|
||||
clang++ $(ALLFLAGS) derivative.cc -lmujoco.2.1.5 -o derivative
|
||||
clang++ $(ALLFLAGS) basic.cc -lmujoco.2.1.5 -lglfw -o basic
|
||||
clang++ $(ALLFLAGS) record.cc -lmujoco.2.1.5 -lglfw -o record
|
||||
clang -c $(CFLAGS) uitools.c
|
||||
clang++ $(ALLFLAGS) uitools.o simulate.cc -lmujoco.2.1.5 -lglfw -o simulate
|
||||
rm *.o
|
||||
|
||||
@@ -3,17 +3,17 @@
|
||||
# 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`.
|
||||
# choice to `mujoco/lib/glfw3dll.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 ../lib/mujoco.lib
|
||||
cl $(COMMON) testspeed.cc ../lib/mujoco.lib
|
||||
cl $(COMMON) compile.cc ../lib/mujoco.lib
|
||||
cl $(COMMON) derivative.cc /openmp ../lib/mujoco.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
|
||||
cl $(COMMON) testxml.cc ../lib/mujoco.lib
|
||||
cl $(COMMON) testspeed.cc ../lib/mujoco.lib
|
||||
cl $(COMMON) compile.cc ../lib/mujoco.lib
|
||||
cl $(COMMON) derivative.cc /openmp ../lib/mujoco.lib
|
||||
cl $(COMMON) basic.cc ../lib/glfw3dll.lib ../lib/mujoco.lib
|
||||
cl $(COMMON) record.cc ../lib/glfw3dll.lib ../lib/mujoco.lib
|
||||
cl $(COMMON) simulate.cc uitools.c ../lib/glfw3dll.lib ../lib/mujoco.lib
|
||||
del *.obj
|
||||
|
||||
@@ -35,7 +35,7 @@ public class MujocoBinaryRetriever {
|
||||
if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/mujoco.dylib") == null) {
|
||||
File.Copy(
|
||||
"/Applications/MuJoCo.app/Contents/Frameworks" +
|
||||
"/MuJoCo.framework/Versions/Current/libmujoco.2.1.4.dylib",
|
||||
"/MuJoCo.framework/Versions/Current/libmujoco.2.1.5.dylib",
|
||||
mujocoPath + "/mujoco.dylib");
|
||||
AssetDatabase.Refresh();
|
||||
}
|
||||
@@ -43,7 +43,7 @@ public class MujocoBinaryRetriever {
|
||||
if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/libmujoco.so") == null) {
|
||||
File.Copy(
|
||||
Environment.GetFolderPath(Environment.SpecialFolder.UserProfile) +
|
||||
"/.mujoco/mujoco-2.1.4/lib/libmujoco.so.2.1.4",
|
||||
"/.mujoco/mujoco-2.1.5/lib/libmujoco.so.2.1.5",
|
||||
mujocoPath + "/libmujoco.so");
|
||||
AssetDatabase.Refresh();
|
||||
}
|
||||
|
||||
@@ -83,7 +83,7 @@ public const int mjMAXOVERLAY = 500;
|
||||
public const int mjMAXLINE = 100;
|
||||
public const int mjMAXLINEPNT = 1000;
|
||||
public const int mjMAXPLANEGRID = 200;
|
||||
public const int mjVERSION_HEADER = 214;
|
||||
public const int mjVERSION_HEADER = 215;
|
||||
|
||||
|
||||
// ------------------------------------Enums------------------------------------
|
||||
|
||||
Reference in New Issue
Block a user