Version 2.1.4: Switch to GLAD, minor improvements to simulate.
PiperOrigin-RevId: 439277749 Change-Id: I741d1c499ae88753338fcc6d141a65e92e13023e
This commit is contained in:
Saran Tunyasuvunakool
@@ -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.2.1.3 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED)
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find_library(MUJOCO_LIBRARY mujoco mujoco.2.1.4 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 ${MUJOCO_INCLUDE}")
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@@ -152,7 +152,7 @@ else()
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GIT_REPO
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https://github.com/pybind/pybind11
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GIT_TAG
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08ea85b0ac0d4d46ac081ff24f481b41322d7159
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a8f1a5567608f346bdba293b3d062a288ee16cd4
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TARGETS
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pybind11::pybind11_headers
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EXCLUDE_FROM_ALL
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@@ -257,12 +257,7 @@ macro(mujoco_pybind11_module name)
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@rpath/$<TARGET_FILE_NAME:mujoco> -add_rpath @loader_path $<TARGET_FILE:${name}>
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)
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elseif(NOT WIN32)
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add_custom_command(
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TARGET ${name}
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POST_BUILD
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COMMAND patchelf --remove-needed $<TARGET_SONAME_FILE_NAME:mujoco>
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$<TARGET_FILE_NAME:${name}>
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)
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set_target_properties(${name} PROPERTIES INSTALL_RPATH $ORIGIN BUILD_WITH_INSTALL_RPATH TRUE)
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endif()
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endmacro()
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@@ -347,17 +342,6 @@ set(LIBRARIES_FOR_WHEEL
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"$<TARGET_FILE:_structs>"
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"$<TARGET_FILE:mujoco>"
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)
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if(NOT APPLE)
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set(LIBRARIES_FOR_WHEEL ${LIBRARIES_FOR_WHEEL} $<TARGET_FILE:mujoco_nogl>)
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endif()
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if(NOT (APPLE OR WIN32))
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set(LIBRARIES_FOR_WHEEL
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${LIBRARIES_FOR_WHEEL}
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"$<TARGET_FILE:glew>"
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"$<TARGET_FILE:glewegl>"
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"$<TARGET_FILE:glewosmesa>"
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)
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endif()
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if(MUJOCO_PYTHON_MAKE_WHEEL)
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add_custom_target(
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+24
-49
@@ -15,69 +15,44 @@
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"""Python bindings for MuJoCo."""
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import ctypes
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import ctypes.util
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import os
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import platform
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import subprocess
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HEADERS_DIR = os.path.join(os.path.dirname(__file__), 'include')
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_MUJOCO_GL_ENABLE = ('enable', 'enabled', 'on', 'true', '1' , '')
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_MUJOCO_GL_DISABLE = ('disable', 'disabled', 'off', 'false', '0')
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_MUJOCO_GL = os.environ.get('MUJOCO_GL', '').lower().strip()
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_MUJOCO_GL_IS_VALID = True
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_SYSTEM = platform.system()
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if _SYSTEM == 'Linux':
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libglew_name = None
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if _MUJOCO_GL in _MUJOCO_GL_ENABLE + ('glfw', 'glx'):
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libglew_name = 'libglew.so'
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elif _MUJOCO_GL == 'egl':
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libglew_name = 'libglewegl.so'
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elif _MUJOCO_GL == 'osmesa':
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libglew_name = 'libglewosmesa.so'
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elif _MUJOCO_GL not in _MUJOCO_GL_DISABLE:
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_MUJOCO_GL_IS_VALID = False
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if libglew_name is not None:
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ctypes.CDLL(os.path.join(os.path.dirname(__file__), libglew_name),
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ctypes.RTLD_GLOBAL)
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ctypes.CDLL(
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os.path.join(os.path.dirname(__file__), 'libmujoco.so.2.1.3'),
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ctypes.RTLD_GLOBAL)
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else:
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ctypes.CDLL(
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os.path.join(os.path.dirname(__file__), 'libmujoco_nogl.so.2.1.3'),
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ctypes.RTLD_GLOBAL)
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elif _SYSTEM == 'Windows':
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if _MUJOCO_GL in _MUJOCO_GL_ENABLE + ('glfw', 'wgl'):
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ctypes.WinDLL(os.path.join(os.path.dirname(__file__), 'mujoco.dll'))
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elif _MUJOCO_GL in _MUJOCO_GL_DISABLE:
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ctypes.WinDLL(os.path.join(os.path.dirname(__file__), 'mujoco_nogl.dll'))
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else:
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_MUJOCO_GL_IS_VALID = False
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if not _MUJOCO_GL_IS_VALID:
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raise RuntimeError(
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f'invalid value for environment variable MUJOCO_GL: {_MUJOCO_GL}')
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if _SYSTEM == 'Windows':
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ctypes.WinDLL(os.path.join(os.path.dirname(__file__), 'mujoco.dll'))
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from mujoco._callbacks import *
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from mujoco._constants import *
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from mujoco._enums import *
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from mujoco._errors import *
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from mujoco._functions import *
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from mujoco._render import *
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from mujoco._structs import *
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# pylint: disable=g-import-not-at-top
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if _MUJOCO_GL not in _MUJOCO_GL_DISABLE:
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from mujoco._render import *
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if _SYSTEM != 'Linux':
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from mujoco.glfw import GLContext
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_MUJOCO_GL = os.environ.get('MUJOCO_GL', '').lower().strip()
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if _MUJOCO_GL not in ('disable', 'disabled', 'off', 'false', '0'):
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_VALID_MUJOCO_GL = ('enable', 'enabled', 'on', 'true', '1' , 'glfw', '')
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if _SYSTEM == 'Linux':
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_VALID_MUJOCO_GL += ('glx', 'egl', 'osmesa')
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elif _SYSTEM == 'Windows':
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_VALID_MUJOCO_GL += ('wgl',)
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elif _SYSTEM == 'Darwin':
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_VALID_MUJOCO_GL += ('cgl',)
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if _MUJOCO_GL not in _VALID_MUJOCO_GL:
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raise RuntimeError(
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f'invalid value for environment variable MUJOCO_GL: {_MUJOCO_GL}')
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if _SYSTEM == 'Linux' and _MUJOCO_GL == 'osmesa':
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from mujoco.osmesa import GLContext
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elif _SYSTEM == 'Linux' and _MUJOCO_GL == 'egl':
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from mujoco.egl import GLContext
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else:
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_dl_handle = ctypes.CDLL(None)
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if hasattr(_dl_handle, 'OSMesaCreateContextExt'):
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from mujoco.osmesa import GLContext
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elif hasattr(_dl_handle, 'eglCreateContext'):
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from mujoco.egl import GLContext
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else:
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from mujoco.glfw import GLContext
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from mujoco.glfw import GLContext
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HEADERS_DIR = os.path.join(os.path.dirname(__file__), 'include')
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__version__ = mj_versionString() # pylint: disable=undefined-variable
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@@ -665,7 +665,7 @@ Euler integrator, semi-implicit in velocity.
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def test_enum_as_index(self):
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x = ['a', 'b', 'c', 'd', 'e', 'f', 'g', 'h', 'i', 'j', 'k']
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self.assertEqual(x[mujoco.mjtFrame.mjNFRAME], 'h')
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self.assertEqual(x[mujoco.mjtFrame.mjFRAME_WORLD], 'h')
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self.assertEqual(
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x[mujoco.mjtFrame.mjFRAME_GEOM:mujoco.mjtFrame.mjFRAME_CAMERA],
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['c', 'd'])
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@@ -673,83 +673,85 @@ Euler integrator, semi-implicit in velocity.
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def test_enum_ops(self):
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# Note: when modifying this test, make sure the enum value is an odd number
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# so that the division tests are correctly exercised.
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self.assertEqual(mujoco.mjtFrame.mjNFRAME, 7)
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self.assertEqual(mujoco.mjtFrame.mjNFRAME, 7.0)
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self.assertEqual(7, mujoco.mjtFrame.mjNFRAME)
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self.assertEqual(7.0, mujoco.mjtFrame.mjNFRAME)
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self.assertEqual(mujoco.mjtFrame.mjNFRAME, mujoco.mjtFrame.mjNFRAME)
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self.assertNotEqual(mujoco.mjtFrame.mjNFRAME, mujoco.mjtFrame.mjFRAME_NONE)
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self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD, 7)
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self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD, 7.0)
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self.assertEqual(7, mujoco.mjtFrame.mjFRAME_WORLD)
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self.assertEqual(7.0, mujoco.mjtFrame.mjFRAME_WORLD)
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self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD,
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mujoco.mjtFrame.mjFRAME_WORLD)
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self.assertNotEqual(mujoco.mjtFrame.mjFRAME_WORLD,
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mujoco.mjtFrame.mjFRAME_NONE)
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self.assertEqual(-mujoco.mjtFrame.mjNFRAME, -7)
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self.assertIsInstance(-mujoco.mjtFrame.mjNFRAME, int)
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self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD, -7)
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self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD, int)
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self.assertEqual(mujoco.mjtFrame.mjNFRAME + 1, 8)
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self.assertIsInstance(mujoco.mjtFrame.mjNFRAME + 1, int)
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self.assertEqual(2 + mujoco.mjtFrame.mjNFRAME, 9)
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self.assertIsInstance(2 + mujoco.mjtFrame.mjNFRAME, int)
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self.assertEqual(mujoco.mjtFrame.mjNFRAME + 1.75, 8.75)
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self.assertEqual(2.75 + mujoco.mjtFrame.mjNFRAME, 9.75)
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self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD + 1, 8)
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self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD + 1, int)
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self.assertEqual(2 + mujoco.mjtFrame.mjFRAME_WORLD, 9)
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self.assertIsInstance(2 + mujoco.mjtFrame.mjFRAME_WORLD, int)
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self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD + 1.75, 8.75)
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self.assertEqual(2.75 + mujoco.mjtFrame.mjFRAME_WORLD, 9.75)
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self.assertEqual(mujoco.mjtFrame.mjNFRAME - 2, 5)
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self.assertIsInstance(mujoco.mjtFrame.mjNFRAME - 2, int)
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self.assertEqual(8 - mujoco.mjtFrame.mjNFRAME, 1)
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self.assertIsInstance(8 - mujoco.mjtFrame.mjNFRAME, int)
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self.assertEqual(mujoco.mjtFrame.mjNFRAME - 2.25, 4.75)
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self.assertEqual(8.25 - mujoco.mjtFrame.mjNFRAME, 1.25)
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self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD - 2, 5)
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self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD - 2, int)
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self.assertEqual(8 - mujoco.mjtFrame.mjFRAME_WORLD, 1)
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self.assertIsInstance(8 - mujoco.mjtFrame.mjFRAME_WORLD, int)
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self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD - 2.25, 4.75)
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self.assertEqual(8.25 - mujoco.mjtFrame.mjFRAME_WORLD, 1.25)
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self.assertEqual(mujoco.mjtFrame.mjNFRAME * 3, 21)
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self.assertIsInstance(mujoco.mjtFrame.mjNFRAME * 3, int)
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self.assertEqual(3 * mujoco.mjtFrame.mjNFRAME, 21)
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self.assertIsInstance(3 * mujoco.mjtFrame.mjNFRAME, int)
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self.assertEqual(mujoco.mjtFrame.mjNFRAME * 3.5, 24.5)
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self.assertEqual(3.5 * mujoco.mjtFrame.mjNFRAME, 24.5)
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self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD * 3, 21)
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self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD * 3, int)
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self.assertEqual(3 * mujoco.mjtFrame.mjFRAME_WORLD, 21)
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self.assertIsInstance(3 * mujoco.mjtFrame.mjFRAME_WORLD, int)
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self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD * 3.5, 24.5)
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self.assertEqual(3.5 * mujoco.mjtFrame.mjFRAME_WORLD, 24.5)
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self.assertEqual(mujoco.mjtFrame.mjNFRAME / 2, 3.5)
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self.assertEqual(17.5 / mujoco.mjtFrame.mjNFRAME, 2.5)
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self.assertEqual(mujoco.mjtFrame.mjNFRAME // 2, 3)
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self.assertIsInstance(mujoco.mjtFrame.mjNFRAME // 2, int)
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self.assertEqual(-mujoco.mjtFrame.mjNFRAME // 2, -4)
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self.assertIsInstance(-mujoco.mjtFrame.mjNFRAME // 2, int)
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self.assertEqual(20 // mujoco.mjtFrame.mjNFRAME, 2)
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self.assertIsInstance(20 // mujoco.mjtFrame.mjNFRAME, int)
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self.assertEqual(-20 // mujoco.mjtFrame.mjNFRAME, -3)
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self.assertIsInstance(-20 // mujoco.mjtFrame.mjNFRAME, int)
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self.assertEqual(mujoco.mjtFrame.mjNFRAME // 2.0, 3)
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self.assertIsInstance(mujoco.mjtFrame.mjNFRAME // 2.0, float)
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self.assertEqual(-mujoco.mjtFrame.mjNFRAME // 2.0, -4)
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self.assertIsInstance(-mujoco.mjtFrame.mjNFRAME // 2.0, float)
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self.assertEqual(20.0 // mujoco.mjtFrame.mjNFRAME, 2)
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self.assertIsInstance(20.0 // mujoco.mjtFrame.mjNFRAME, float)
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self.assertEqual(-20 // mujoco.mjtFrame.mjNFRAME, -3)
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self.assertIsInstance(-20.0 // mujoco.mjtFrame.mjNFRAME, float)
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self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD / 2, 3.5)
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self.assertEqual(17.5 / mujoco.mjtFrame.mjFRAME_WORLD, 2.5)
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self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD // 2, 3)
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self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD // 2, int)
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self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD // 2, -4)
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self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD // 2, int)
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self.assertEqual(20 // mujoco.mjtFrame.mjFRAME_WORLD, 2)
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self.assertIsInstance(20 // mujoco.mjtFrame.mjFRAME_WORLD, int)
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self.assertEqual(-20 // mujoco.mjtFrame.mjFRAME_WORLD, -3)
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self.assertIsInstance(-20 // mujoco.mjtFrame.mjFRAME_WORLD, int)
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self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD // 2.0, 3)
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self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD // 2.0, float)
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self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD // 2.0, -4)
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self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD // 2.0, float)
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self.assertEqual(20.0 // mujoco.mjtFrame.mjFRAME_WORLD, 2)
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self.assertIsInstance(20.0 // mujoco.mjtFrame.mjFRAME_WORLD, float)
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self.assertEqual(-20 // mujoco.mjtFrame.mjFRAME_WORLD, -3)
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self.assertIsInstance(-20.0 // mujoco.mjtFrame.mjFRAME_WORLD, float)
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self.assertEqual(mujoco.mjtFrame.mjNFRAME % 4, 3)
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self.assertIsInstance(mujoco.mjtFrame.mjNFRAME % 4, int)
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self.assertEqual(-mujoco.mjtFrame.mjNFRAME % -4, -3)
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self.assertIsInstance(-mujoco.mjtFrame.mjNFRAME % -4, int)
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self.assertEqual(-mujoco.mjtFrame.mjNFRAME % 4, 1)
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self.assertIsInstance(-mujoco.mjtFrame.mjNFRAME % 4, int)
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self.assertEqual(mujoco.mjtFrame.mjNFRAME % -4, -1)
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self.assertIsInstance(mujoco.mjtFrame.mjNFRAME % -4, int)
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self.assertEqual(9 % mujoco.mjtFrame.mjNFRAME, 2)
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self.assertIsInstance(9 % mujoco.mjtFrame.mjNFRAME, int)
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self.assertEqual(-9 % -mujoco.mjtFrame.mjNFRAME, -2)
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self.assertIsInstance(-9 % -mujoco.mjtFrame.mjNFRAME, int)
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self.assertEqual(-9 % mujoco.mjtFrame.mjNFRAME, 5)
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self.assertIsInstance(-9 % mujoco.mjtFrame.mjNFRAME, int)
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self.assertEqual(9 % -mujoco.mjtFrame.mjNFRAME, -5)
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self.assertIsInstance(9 % -mujoco.mjtFrame.mjNFRAME, int)
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self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD % 4, 3)
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self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD % 4, int)
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self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD % -4, -3)
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self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD % -4, int)
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self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD % 4, 1)
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self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD % 4, int)
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self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD % -4, -1)
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self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD % -4, int)
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self.assertEqual(9 % mujoco.mjtFrame.mjFRAME_WORLD, 2)
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self.assertIsInstance(9 % mujoco.mjtFrame.mjFRAME_WORLD, int)
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self.assertEqual(-9 % -mujoco.mjtFrame.mjFRAME_WORLD, -2)
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self.assertIsInstance(-9 % -mujoco.mjtFrame.mjFRAME_WORLD, int)
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self.assertEqual(-9 % mujoco.mjtFrame.mjFRAME_WORLD, 5)
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self.assertIsInstance(-9 % mujoco.mjtFrame.mjFRAME_WORLD, int)
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self.assertEqual(9 % -mujoco.mjtFrame.mjFRAME_WORLD, -5)
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self.assertIsInstance(9 % -mujoco.mjtFrame.mjFRAME_WORLD, int)
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with self.assertRaises(ZeroDivisionError):
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_ = mujoco.mjtFrame.mjNFRAME / 0
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_ = mujoco.mjtFrame.mjFRAME_WORLD / 0
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with self.assertRaises(ZeroDivisionError):
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_ = 1 / mujoco.mjtFrame.mjFRAME_NONE
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with self.assertRaises(ZeroDivisionError):
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_ = mujoco.mjtFrame.mjNFRAME // 0
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_ = mujoco.mjtFrame.mjFRAME_WORLD // 0
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with self.assertRaises(ZeroDivisionError):
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_ = 1 // mujoco.mjtFrame.mjFRAME_NONE
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with self.assertRaises(ZeroDivisionError):
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_ = mujoco.mjtFrame.mjNFRAME % 0
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_ = mujoco.mjtFrame.mjFRAME_WORLD % 0
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with self.assertRaises(ZeroDivisionError):
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_ = 1 % mujoco.mjtFrame.mjFRAME_NONE
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@@ -206,7 +206,7 @@ PYBIND11_MODULE(_render, pymodule) {
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X(nskin);
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X(charHeight);
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X(charHeightBig);
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X(glewInitialized);
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X(glInitialized);
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X(windowAvailable);
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X(windowSamples);
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X(windowStereo);
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@@ -19,7 +19,7 @@ import mujoco
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import numpy as np
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||||
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@absltest.skipUnless(hasattr(mujoco, 'mjr_render'),
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@absltest.skipUnless(hasattr(mujoco, 'GLContext'),
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||||
'MuJoCo rendering is disabled')
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||||
class MuJoCoRenderTest(absltest.TestCase):
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||||
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||||
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+11
-13
@@ -30,7 +30,7 @@ from setuptools import find_packages
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||||
from setuptools import setup
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||||
from setuptools.command import build_ext
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||||
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||||
__version__ = '2.1.3'
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||||
__version__ = '2.1.4'
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||||
|
||||
MUJOCO_CMAKE = 'MUJOCO_CMAKE'
|
||||
MUJOCO_CMAKE_ARGS = 'MUJOCO_CMAKE_ARGS'
|
||||
@@ -54,20 +54,20 @@ def get_long_description():
|
||||
|
||||
def get_mujoco_lib_pattern():
|
||||
if platform.system() == 'Windows':
|
||||
return 'mujoco*.lib'
|
||||
return 'mujoco.lib'
|
||||
elif platform.system() == 'Darwin':
|
||||
return 'libmujoco*.dylib'
|
||||
return 'libmujoco.*.dylib'
|
||||
else:
|
||||
return 'libmujoco*.so*'
|
||||
return 'libmujoco.so.*'
|
||||
|
||||
|
||||
def get_external_lib_patterns():
|
||||
if platform.system() == 'Windows':
|
||||
return ['mujoco*.dll']
|
||||
return ['mujoco.dll']
|
||||
elif platform.system() == 'Darwin':
|
||||
return ['libmujoco*.dylib']
|
||||
return ['libmujoco.*.dylib']
|
||||
else:
|
||||
return ['libmujoco*.so*', 'libglew*.so']
|
||||
return ['libmujoco.so.*']
|
||||
|
||||
|
||||
def start_and_end(iterable):
|
||||
@@ -290,12 +290,10 @@ setup(
|
||||
find_data_files(
|
||||
package_dir='mujoco',
|
||||
patterns=[
|
||||
'libmujoco*.dylib',
|
||||
'libmujoco*.so*',
|
||||
'mujoco*.dll',
|
||||
'libglew*.so*',
|
||||
'mujoco.h',
|
||||
'mj*.h',
|
||||
'libmujoco.*.dylib',
|
||||
'libmujoco*.so.*',
|
||||
'mujoco.dll',
|
||||
'include/*.h',
|
||||
]),
|
||||
},
|
||||
)
|
||||
|
||||
Reference in New Issue
Block a user