chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Merge branch 'google-deepmind:main' into usd-integration

Browse Source
This commit is contained in:
Abhishek Joshi
2024-01-15 15:10:49 -05:00
committed by GitHub
parent 08bdc9f691 2388b651e8
commit 8f247d5ed6
184 changed files with 8579 additions and 3260 deletions
Download Patch File Download Diff File Expand all files Collapse all files
python/mujoco/CMakeLists.txt
+5 -4
View File
@@ -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.3.0.2.dylib
${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.1.2.dylib
)
target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK})
endif()
@@ -92,7 +92,7 @@ if(NOT TARGET mujoco)
if(NOT MUJOCO_FRAMEWORK)
find_library(
MUJOCO_LIBRARY mujoco mujoco.3.0.2 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
MUJOCO_LIBRARY mujoco mujoco.3.1.2 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
)
find_path(MUJOCO_INCLUDE mujoco/mujoco.h HINTS ${MUJOCO_INCLUDE_DIR} REQUIRED)
message("MuJoCo is at ${MUJOCO_LIBRARY}")
@@ -173,16 +173,17 @@ findorfetch(
GIT_REPO
https://gitlab.com/libeigen/eigen
GIT_TAG
aa6964bf3a34fd607837dd8123bc42465185c4f8
454f89af9d6f3525b1df5f9ef9c86df58bf2d4d3
TARGETS
Eigen3::Eigen
EXCLUDE_FROM_ALL
)
# ==================== PYBIND11 ================================================
option(MUJOCO_PYTHON_USE_SYSTEM_PYBIND11 "Use installed pybind11 version." OFF)
findorfetch(
USE_SYSTEM_PACKAGE
OFF
MUJOCO_PYTHON_USE_SYSTEM_PYBIND11
PACKAGE_NAME
pybind11
LIBRARY_NAME
python/mujoco/bindings_test.py
+2 -2
View File
@@ -822,7 +822,7 @@ Euler integrator, semi-implicit in velocity.
self.assertLen(mujoco.mjRNDSTRING, mujoco.mjtRndFlag.mjNRNDFLAG)
self.assertEqual(mujoco.mjDISABLESTRING[11], 'Refsafe')
self.assertEqual(mujoco.mjVISSTRING[mujoco.mjtVisFlag.mjVIS_INERTIA],
('&Inertia', '0', 'I'))
('Inertia', '0', 'I'))
def test_enum_values(self):
self.assertEqual(mujoco.mjtJoint.mjJNT_FREE, 0)
@@ -840,7 +840,7 @@ Euler integrator, semi-implicit in velocity.
self.assertEqual(mujoco.mjtGeom.mjGEOM_ARROW, 100)
self.assertEqual(mujoco.mjtGeom.mjGEOM_ARROW1, 101)
self.assertEqual(mujoco.mjtGeom.mjGEOM_ARROW2, 102)
self.assertEqual(mujoco.mjtGeom.mjGEOM_TRIANGLE, 107)
self.assertEqual(mujoco.mjtGeom.mjGEOM_TRIANGLE, 108)
self.assertEqual(mujoco.mjtGeom.mjGEOM_NONE, 1001)
def test_enum_from_int(self):
python/mujoco/cgl/__init__.py
+11 -8
View File
@@ -57,15 +57,18 @@ class GLContext:
def free(self):
"""Frees resources associated with this context."""
if self._context:
cgl.CGLUnlockContext(self._context)
cgl.CGLSetCurrentContext(None)
cgl.CGLReleaseContext(self._context)
self._context = None
try:
if self._context:
cgl.CGLUnlockContext(self._context)
cgl.CGLSetCurrentContext(None)
cgl.CGLReleaseContext(self._context)
self._context = None
if self._pix:
cgl.CGLReleasePixelFormat(self._pix)
self._context = None
if self._pix:
cgl.CGLReleasePixelFormat(self._pix)
self._pix = None
except Exception: # pylint: disable=broad-exception-caught
pass
def __del__(self):
self.free()
python/mujoco/egl/__init__.py
+4 -3
View File
@@ -92,12 +92,13 @@ class GLContext:
del max_width, max_height # unused
num_configs = ctypes.c_long()
config_size = 1
config = EGL.EGLConfig()
# ctypes syntax for making an array of length config_size.
configs = (EGL.EGLConfig * config_size)()
EGL.eglReleaseThread()
EGL.eglChooseConfig(
EGL_DISPLAY,
EGL_ATTRIBUTES,
ctypes.byref(config),
configs,
config_size,
num_configs)
if num_configs.value < 1:
@@ -106,7 +107,7 @@ class GLContext:
'desired attributes: {}'.format(EGL_ATTRIBUTES))
EGL.eglBindAPI(EGL.EGL_OPENGL_API)
self._context = EGL.eglCreateContext(
EGL_DISPLAY, config, EGL.EGL_NO_CONTEXT, None)
EGL_DISPLAY, configs[0], EGL.EGL_NO_CONTEXT, None)
if not self._context:
raise RuntimeError('Cannot create an EGL context.')
python/mujoco/functions.cc
+1
View File
@@ -185,6 +185,7 @@ PYBIND11_MODULE(_functions, pymodule) {
Def<traits::mj_fwdConstraint>(pymodule);
Def<traits::mj_Euler>(pymodule);
Def<traits::mj_RungeKutta>(pymodule);
Def<traits::mj_implicit>(pymodule);
Def<traits::mj_invPosition>(pymodule);
Def<traits::mj_invVelocity>(pymodule);
Def<traits::mj_invConstraint>(pymodule);
python/mujoco/glfw/__init__.py
+1 -1
View File
@@ -35,7 +35,7 @@ class GLContext:
if glfw.get_current_context() == self._context:
glfw.make_context_current(None)
glfw.destroy_window(self._context)
self._context = None
self._context = None
def __del__(self):
self.free()
python/mujoco/mjpython/Info.plist
+4 -4
View File
@@ -7,13 +7,13 @@
<key>CFBundleIdentifier</key>
<string>org.mujoco.mjpython</string>
<key>CFBundleVersion</key>
<string>3.0.2</string>
<string>3.1.2</string>
<key>CFBundleGetInfoString</key>
<string>3.0.2</string>
<string>3.1.2</string>
<key>CFBundleLongVersionString</key>
<string>3.0.2</string>
<string>3.1.2</string>
<key>CFBundleShortVersionString</key>
<string>3.0.2</string>
<string>3.1.2</string>
<key>CFBundleExecutable</key>
<string>mjpython</string>
<key>CFBundleIconFile</key>
python/mujoco/renderer.py
+40
View File
@@ -136,6 +136,9 @@ the clause:
A new numpy array holding the pixels with shape `(H, W)` or `(H, W, 3)`,
depending on the value of `self._depth_rendering` unless
`out is None`, in which case a reference to `out` is returned.
Raises:
RuntimeError: if this method is called after the close method.
"""
original_flags = self._scene.flags.copy()
@@ -145,6 +148,8 @@ the clause:
self._scene.flags[_enums.mjtRndFlag.mjRND_SEGMENT] = True
self._scene.flags[_enums.mjtRndFlag.mjRND_IDCOLOR] = True
if self._gl_context is None:
raise RuntimeError('render cannot be called after close.')
self._gl_context.make_current()
if self._depth_rendering:
@@ -288,3 +293,38 @@ the clause:
camera, _enums.mjtCatBit.mjCAT_ALL.value,
self._scene,
)
def close(self) -> None:
"""Frees the resources used by the renderer.
This method can be used directly:
```python
renderer = Renderer(...)
# Use renderer.
renderer.close()
```
or via a context manager:
```python
with Renderer(...) as renderer:
# Use renderer.
```
"""
if self._gl_context:
self._gl_context.free()
self._gl_context = None
if self._mjr_context:
self._mjr_context.free()
self._mjr_context = None
def __enter__(self):
return self
def __exit__(self, exc_type, exc_value, traceback):
del exc_type, exc_value, traceback # Unused.
self.close()
def __del__(self) -> None:
self.close()
python/mujoco/renderer_test.py
+51 -53
View File
@@ -33,10 +33,10 @@ class MuJoCoRendererTest(parameterized.TestCase):
"""
model = mujoco.MjModel.from_xml_string(xml)
data = mujoco.MjData(model)
renderer = mujoco.Renderer(model, 50, 50)
mujoco.mj_forward(model, data)
with self.assertRaisesRegex(ValueError, r'camera "b" does not exist'):
renderer.update_scene(data, 'b')
with mujoco.Renderer(model, 50, 50) as renderer:
mujoco.mj_forward(model, data)
with self.assertRaisesRegex(ValueError, r'camera "b" does not exist'):
renderer.update_scene(data, 'b')
def test_renderer_camera_under_range(self):
xml = """
@@ -48,10 +48,10 @@ class MuJoCoRendererTest(parameterized.TestCase):
"""
model = mujoco.MjModel.from_xml_string(xml)
data = mujoco.MjData(model)
renderer = mujoco.Renderer(model, 50, 50)
mujoco.mj_forward(model, data)
with self.assertRaisesRegex(ValueError, '-2 is out of range'):
renderer.update_scene(data, -2)
with mujoco.Renderer(model, 50, 50) as renderer:
mujoco.mj_forward(model, data)
with self.assertRaisesRegex(ValueError, '-2 is out of range'):
renderer.update_scene(data, -2)
def test_renderer_camera_over_range(self):
xml = """
@@ -63,10 +63,10 @@ class MuJoCoRendererTest(parameterized.TestCase):
"""
model = mujoco.MjModel.from_xml_string(xml)
data = mujoco.MjData(model)
renderer = mujoco.Renderer(model, 50, 50)
mujoco.mj_forward(model, data)
with self.assertRaisesRegex(ValueError, '1 is out of range'):
renderer.update_scene(data, 1)
with mujoco.Renderer(model, 50, 50) as renderer:
mujoco.mj_forward(model, data)
with self.assertRaisesRegex(ValueError, '1 is out of range'):
renderer.update_scene(data, 1)
def test_renderer_renders_scene(self):
xml = """
@@ -79,19 +79,19 @@ class MuJoCoRendererTest(parameterized.TestCase):
"""
model = mujoco.MjModel.from_xml_string(xml)
data = mujoco.MjData(model)
renderer = mujoco.Renderer(model, 50, 50)
mujoco.mj_forward(model, data)
renderer.update_scene(data, 'closeup')
with mujoco.Renderer(model, 50, 50) as renderer:
mujoco.mj_forward(model, data)
renderer.update_scene(data, 'closeup')
pixels = renderer.render().flatten()
not_all_black = False
pixels = renderer.render().flatten()
not_all_black = False
# Pixels should all be a neutral color.
for pixel in pixels:
if pixel > 0:
not_all_black = True
break
self.assertTrue(not_all_black)
# Pixels should all be a neutral color.
for pixel in pixels:
if pixel > 0:
not_all_black = True
break
self.assertTrue(not_all_black)
def test_renderer_output_without_out(self):
xml = """
@@ -105,25 +105,25 @@ class MuJoCoRendererTest(parameterized.TestCase):
model = mujoco.MjModel.from_xml_string(xml)
data = mujoco.MjData(model)
mujoco.mj_forward(model, data)
renderer = mujoco.Renderer(model, 50, 50)
renderer.update_scene(data, 'closeup')
pixels = [renderer.render()]
colors = (
(1.0, 0.0, 0.0, 1.0),
(0.0, 1.0, 0.0, 1.0),
(0.0, 0.0, 1.0, 1.0),
)
for i, color in enumerate(colors):
model.geom_rgba[0, :] = color
mujoco.mj_forward(model, data)
with mujoco.Renderer(model, 50, 50) as renderer:
renderer.update_scene(data, 'closeup')
pixels.append(renderer.render())
self.assertIsNot(pixels[-2], pixels[-1])
pixels = [renderer.render()]
# Pixels should change over steps.
self.assertFalse((pixels[i + 1] == pixels[i]).all())
colors = (
(1.0, 0.0, 0.0, 1.0),
(0.0, 1.0, 0.0, 1.0),
(0.0, 0.0, 1.0, 1.0),
)
for i, color in enumerate(colors):
model.geom_rgba[0, :] = color
mujoco.mj_forward(model, data)
renderer.update_scene(data, 'closeup')
pixels.append(renderer.render())
self.assertIsNot(pixels[-2], pixels[-1])
# Pixels should change over steps.
self.assertFalse((pixels[i + 1] == pixels[i]).all())
def test_renderer_output_with_out(self):
xml = """
@@ -139,23 +139,21 @@ class MuJoCoRendererTest(parameterized.TestCase):
model = mujoco.MjModel.from_xml_string(xml)
data = mujoco.MjData(model)
mujoco.mj_forward(model, data)
renderer = mujoco.Renderer(model, *render_size)
renderer.update_scene(data, 'closeup')
with mujoco.Renderer(model, *render_size) as renderer:
renderer.update_scene(data, 'closeup')
self.assertTrue(np.all(render_out == 0))
self.assertTrue(np.all(render_out == 0))
pixels = renderer.render(out=render_out)
pixels = renderer.render(out=render_out)
# Pixels should always refer to the same `render_out` array.
self.assertIs(pixels, render_out)
self.assertFalse(np.all(render_out == 0))
# Pixels should always refer to the same `render_out` array.
self.assertIs(pixels, render_out)
self.assertFalse(np.all(render_out == 0))
failing_render_size = (10, 10)
self.assertNotEqual(failing_render_size, render_size)
with self.assertRaises(ValueError):
pixels = renderer.render(
out=np.zeros((*failing_render_size, 3), np.uint8)
)
failing_render_size = (10, 10)
self.assertNotEqual(failing_render_size, render_size)
with self.assertRaises(ValueError):
renderer.render(out=np.zeros((*failing_render_size, 3), np.uint8))
if __name__ == '__main__':
python/pyproject.toml
+3 -3
View File
@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
[project]
name = "mujoco"
version = "3.0.2"
version = "3.1.2"
authors = [
{name = "Google DeepMind", email = "mujoco@deepmind.com"},
]
@@ -36,9 +36,9 @@ dynamic = ["readme", "scripts"]
[project.urls]
Homepage = "https://github.com/google-deepmind/mujoco"
Documentation = "https://mujoco.readthedocs.io/en/3.0.2"
Documentation = "https://mujoco.readthedocs.io/en/3.1.2"
Repository = "https://github.com/google-deepmind/mujoco"
Changelog = "https://mujoco.readthedocs.io/en/3.0.2/changelog.html"
Changelog = "https://mujoco.readthedocs.io/en/3.1.2/changelog.html"
[tool.setuptools]
include-package-data = false