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)