Merge branch 'google-deepmind:main' into tendons

python/mujoco/CMakeLists.txt

@@ -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.3.1.6.dylib
+          ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.1.7.dylib
       )
       target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK})
     endif()
@@ -92,7 +92,7 @@ if(NOT TARGET mujoco)
 
   if(NOT MUJOCO_FRAMEWORK)
     find_library(
-      MUJOCO_LIBRARY mujoco mujoco.3.1.6 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
+      MUJOCO_LIBRARY mujoco mujoco.3.1.7 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
     )
     find_path(MUJOCO_INCLUDE mujoco/mujoco.h HINTS ${MUJOCO_INCLUDE_DIR} REQUIRED)
     message("MuJoCo is at ${MUJOCO_LIBRARY}")

python/mujoco/bindings_test.py

@@ -27,6 +27,7 @@ import numpy as np
 TEST_XML = r"""
 <mujoco model="test">
   <compiler coordinate="local" angle="radian" eulerseq="xyz"/>
+  <size nkey="2"/>
   <option timestep="0.002" gravity="0 0 -9.81"/>
   <visual>
     <global fovy="50" />
@@ -745,6 +746,37 @@ class MuJoCoBindingsTest(parameterized.TestCase):
     # Expect next states to be equal.
     np.testing.assert_array_equal(state1a, state1b)
 
+  def test_mj_setKeyframe(self):  # pylint: disable=invalid-name
+    mujoco.mj_step(self.model, self.data)
+
+    # Test for invalid state spec
+    invalid_key = 2
+    expected_message = (
+        f'mj_setKeyframe: index must be smaller than {invalid_key} (keyframes'
+        ' allocated in model)'
+    )
+    with self.assertRaisesWithLiteralMatch(mujoco.FatalError, expected_message):
+      mujoco.mj_setKeyframe(self.model, self.data, invalid_key)
+
+    valid_key = 1
+    time = self.data.time
+    qpos = self.data.qpos.copy()
+    qvel = self.data.qvel.copy()
+    act = self.data.act.copy()
+    mujoco.mj_setKeyframe(self.model, self.data, valid_key)
+
+    # Step, assert that time has changed.
+    mujoco.mj_step(self.model, self.data)
+    self.assertNotEqual(time, self.data.time)
+
+    # Reset to keyframe, assert that time, qpos, qvel, act are the same.
+    mujoco.mj_resetDataKeyframe(self.model, self.data, valid_key)
+    self.assertEqual(time, self.data.time)
+    np.testing.assert_array_equal(qpos, self.data.qpos)
+    np.testing.assert_array_equal(qvel, self.data.qvel)
+    np.testing.assert_array_equal(act, self.data.act)
+
+
   def test_mj_angmomMat(self):  # pylint: disable=invalid-name
     self.data.qvel = np.ones(self.model.nv, np.float64)
     mujoco.mj_forward(self.model, self.data)

python/mujoco/functions.cc

@@ -302,6 +302,7 @@ PYBIND11_MODULE(_functions, pymodule) {
         }
         return InterceptMjErrors(::mj_setState)(m, d, state.data(), spec);
       });
+  Def<traits::mj_setKeyframe>(pymodule);
   Def<traits::mj_addContact>(pymodule);
   Def<traits::mj_isPyramidal>(pymodule);
   Def<traits::mj_isSparse>(pymodule);
@@ -697,6 +698,8 @@ PYBIND11_MODULE(_functions, pymodule) {
   Def<traits::mju_norm3>(pymodule);
   Def<traits::mju_dot3>(pymodule);
   Def<traits::mju_dist3>(pymodule);
+  Def<traits::mju_mulMatVec3>(pymodule);
+  Def<traits::mju_mulMatTVec3>(pymodule);
   Def<traits::mju_rotVecMat>(pymodule);
   Def<traits::mju_rotVecMatT>(pymodule);
   Def<traits::mju_cross>(pymodule);

python/mujoco/mjpython/Info.plist

@@ -7,13 +7,13 @@
     <key>CFBundleIdentifier</key>
     <string>org.mujoco.mjpython</string>
     <key>CFBundleVersion</key>
-    <string>3.1.6</string>
+    <string>3.1.7</string>
     <key>CFBundleGetInfoString</key>
-    <string>3.1.6</string>
+    <string>3.1.7</string>
     <key>CFBundleLongVersionString</key>
-    <string>3.1.6</string>
+    <string>3.1.7</string>
     <key>CFBundleShortVersionString</key>
-    <string>3.1.6</string>
+    <string>3.1.7</string>
     <key>CFBundleExecutable</key>
     <string>mjpython</string>
     <key>CFBundleIconFile</key>

python/mujoco/structs.cc

@@ -1390,6 +1390,7 @@ PYBIND11_MODULE(_structs, m) {
       });
   DefineStructFunctions(mjVisualGlobal);
 #define X(var) mjVisualGlobal.def_readwrite(#var, &raw::MjVisualGlobal::var)
+  X(orthographic);
   X(fovy);
   X(ipd);
   X(azimuth);
@@ -2123,6 +2124,7 @@ This is useful for example when the MJB is not available as a file on disk.)"));
   X(distance);
   X(azimuth);
   X(elevation);
+  X(orthographic);
 #undef X
 
 #define X(var) DefinePyArray(mjvCamera, #var, &MjvCameraWrapper::var)
@@ -2153,6 +2155,7 @@ This is useful for example when the MJB is not available as a file on disk.)"));
   X(frustum_top);
   X(frustum_near);
   X(frustum_far);
+  X(orthographic);
 #undef X
 
 #define X(var) DefinePyArray(mjvGLCamera, #var, &MjvGLCameraWrapper::var)

python/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "mujoco"
-version = "3.1.6"
+version = "3.1.7"
 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/3.1.6"
+Documentation = "https://mujoco.readthedocs.io/en/3.1.7"
 Repository = "https://github.com/google-deepmind/mujoco"
-Changelog = "https://mujoco.readthedocs.io/en/3.1.6/changelog.html"
+Changelog = "https://mujoco.readthedocs.io/en/3.1.7/changelog.html"
 
 [tool.setuptools]
 include-package-data = false

python/tutorial.ipynb

@@ -479,8 +479,8 @@
     "\"\"\"\n",
     "model = mujoco.MjModel.from_xml_string(xml)\n",
     "data = mujoco.MjData(model)\n",
-    "renderer = mujoco.Renderer(model)\n",
     "\n",
+    "renderer = mujoco.Renderer(model)\n",
     "mujoco.mj_forward(model, data)\n",
     "renderer.update_scene(data)\n",
     "\n",
@@ -509,6 +509,7 @@
     "# Run this cell multiple times for different colors\n",
     "model.geom('red_box').rgba[:3] = np.random.rand(3)\n",
     "renderer.update_scene(data)\n",
+    "\n",
     "media.show_image(renderer.render())"
    ]
   },
@@ -545,6 +546,7 @@
     "    renderer.update_scene(data)\n",
     "    pixels = renderer.render()\n",
     "    frames.append(pixels)\n",
+    "\n",
     "media.show_video(frames, fps=framerate)"
    ]
   },
@@ -590,6 +592,7 @@
     "duration = 3.8  # (seconds)\n",
     "framerate = 60  # (Hz)\n",
     "\n",
+    "# Simulate and display video.\n",
     "frames = []\n",
     "mujoco.mj_resetData(model, data)\n",
     "while data.time < duration:\n",
@@ -599,7 +602,6 @@
     "    pixels = renderer.render()\n",
     "    frames.append(pixels)\n",
     "\n",
-    "# Simulate and display video.\n",
     "media.show_video(frames, fps=framerate)"
    ]
   },
@@ -646,6 +648,7 @@
     "model.opt.gravity = (0, 0, 10)\n",
     "print('flipped gravity', model.opt.gravity)\n",
     "\n",
+    "# Simulate and display video.\n",
     "frames = []\n",
     "mujoco.mj_resetData(model, data)\n",
     "while data.time < duration:\n",
@@ -756,10 +759,12 @@
     "</mujoco>\n",
     "\"\"\"\n",
     "model = mujoco.MjModel.from_xml_string(tippe_top)\n",
-    "renderer = mujoco.Renderer(model)\n",
     "data = mujoco.MjData(model)\n",
+    "renderer = mujoco.Renderer(model)\n",
+    "\n",
     "mujoco.mj_forward(model, data)\n",
     "renderer.update_scene(data, camera=\"closeup\")\n",
+    "\n",
     "media.show_image(renderer.render())"
    ]
   },
@@ -933,10 +938,12 @@
     "</mujoco>\n",
     "\"\"\"\n",
     "model = mujoco.MjModel.from_xml_string(chaotic_pendulum)\n",
-    "renderer = mujoco.Renderer(model, 480, 640)\n",
     "data = mujoco.MjData(model)\n",
+    "renderer = mujoco.Renderer(model, 480, 640)\n",
+    "\n",
     "mujoco.mj_forward(model, data)\n",
     "renderer.update_scene(data, camera=\"fixed\")\n",
+    "\n",
     "media.show_image(renderer.render())"
    ]
   },
@@ -965,12 +972,10 @@
     "frames = []\n",
     "renderer = mujoco.Renderer(model, 240, 320)\n",
     "\n",
-    "\n",
     "# set initial state\n",
     "mujoco.mj_resetData(model, data)\n",
     "data.joint('root').qvel = 10\n",
     "\n",
-    "\n",
     "# simulate and record frames\n",
     "frame = 0\n",
     "sim_time = 0\n",
@@ -1176,14 +1181,13 @@
     "  ax.plot(sim_time, energy, label='timestep = {:2.2g}ms'.format(1000*dt))\n",
     "  ax.set_yscale('log')\n",
     "\n",
-    "\n",
     "# finalize plot\n",
     "ax.set_ybound(1, 1e3)\n",
     "ax.set_title('energy')\n",
     "ax.set_ylabel('Joule')\n",
     "ax.set_xlabel('second')\n",
     "ax.legend(frameon=True, loc='lower right');\n",
-    "plt.tight_layout()\n"
+    "plt.tight_layout()"
    ]
   },
   {
@@ -1228,10 +1232,12 @@
     "</mujoco>\n",
     "\"\"\"\n",
     "model = mujoco.MjModel.from_xml_string(free_body_MJCF)\n",
-    "renderer = mujoco.Renderer(model, 400, 600)\n",
     "data = mujoco.MjData(model)\n",
+    "renderer = mujoco.Renderer(model, 400, 600)\n",
+    "\n",
     "mujoco.mj_forward(model, data)\n",
     "renderer.update_scene(data, \"fixed\")\n",
+    "\n",
     "media.show_image(renderer.render())"
    ]
   },
@@ -1275,7 +1281,7 @@
     "mujoco.mj_resetData(model, data)\n",
     "data.qvel[3:6] = 5*np.random.randn(3)\n",
     "\n",
-    "# simulate and render\n",
+    "# Simulate and display video.\n",
     "for i in range(n_frames):\n",
     "  while data.time < i/120.0: #1/4x real time\n",
     "    mujoco.mj_step(model, data)\n",
@@ -1283,7 +1289,6 @@
     "  frame = renderer.render()\n",
     "  frames.append(frame)\n",
     "\n",
-    "# show video\n",
     "media.show_video(frames, fps=30)"
    ]
   },
@@ -1437,7 +1442,7 @@
     "data = mujoco.MjData(model)\n",
     "renderer = mujoco.Renderer(model, height, width)\n",
     "\n",
-    "# simulate and render\n",
+    "# Simulate and display video.\n",
     "mujoco.mj_resetData(model, data)\n",
     "for i in range(n_frames):\n",
     "  while data.time < i/30.0:\n",
@@ -1445,6 +1450,7 @@
     "  renderer.update_scene(data, \"y\")\n",
     "  frame = renderer.render()\n",
     "  frames.append(frame)\n",
+    "\n",
     "media.show_video(frames, fps=30)"
    ]
   },
@@ -1513,10 +1519,12 @@
     "</mujoco>\n",
     "\"\"\"\n",
     "model = mujoco.MjModel.from_xml_string(MJCF)\n",
-    "renderer = mujoco.Renderer(model, 480, 480)\n",
     "data = mujoco.MjData(model)\n",
+    "renderer = mujoco.Renderer(model, 480, 480)\n",
+    "\n",
     "mujoco.mj_forward(model, data)\n",
     "renderer.update_scene(data, \"fixed\")\n",
+    "\n",
     "media.show_image(renderer.render())\n"
    ]
   },
@@ -1551,7 +1559,7 @@
     "mujoco.mj_resetData(model, data)\n",
     "data.ctrl = 20\n",
     "\n",
-    "# simulate and render\n",
+    "# Simulate and display video.\n",
     "for i in range(n_frames):\n",
     "  while data.time < i/fps:\n",
     "    mujoco.mj_step(model, data)\n",
@@ -1783,10 +1791,10 @@
    "outputs": [],
    "source": [
     "#@title Project from world to camera coordinates {vertical-output: true}\n",
+    "\n",
     "# reset the scene\n",
     "renderer.update_scene(data)\n",
     "\n",
-    "\n",
     "# Get the world coordinates of the box corners\n",
     "box_pos = data.geom_xpos[model.geom('red_box').id]\n",
     "box_mat = data.geom_xmat[model.geom('red_box').id].reshape(3, 3)\n",
@@ -1897,6 +1905,7 @@
     "    modify_scene(renderer.scene)\n",
     "    pixels = renderer.render()\n",
     "    frames.append(pixels)\n",
+    "\n",
     "media.show_video(frames, fps=framerate)"
    ]
   },
@@ -1923,6 +1932,7 @@
    "outputs": [],
    "source": [
     "#@title Load the \"dominos\" model\n",
+    "\n",
     "dominos_xml = \"\"\"\n",
     "<mujoco>\n",
     "  <asset>\n",
@@ -2022,6 +2032,7 @@
    "outputs": [],
    "source": [
     "#@title Render from fixed camera\n",
+    "\n",
     "duration = 2.5  # (seconds)\n",
     "framerate = 60  # (Hz)\n",
     "\n",
@@ -2034,6 +2045,7 @@
     "    renderer.update_scene(data, camera='top')\n",
     "    pixels = renderer.render()\n",
     "    frames.append(pixels)\n",
+    "\n",
     "media.show_video(frames, fps=framerate)"
    ]
   },
@@ -2047,6 +2059,7 @@
    "outputs": [],
    "source": [
     "#@title Render from moving camera\n",
+    "\n",
     "duration = 3  # (seconds)\n",
     "\n",
     "# find time when box is thrown (speed > 2cm/s)\n",
@@ -2109,6 +2122,7 @@
     "    renderer.update_scene(data, cam)\n",
     "    pixels = renderer.render()\n",
     "    frames.append(pixels)\n",
+    "\n",
     "media.show_video(frames, fps=framerate)"
    ]
   }