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

Merge pull request #419 from aftersomemath:simulate-python

Browse Source 
PiperOrigin-RevId: 487496285
Change-Id: I17d15bd2a3886e5ce1631f4eb78afa94830d08cc
This commit is contained in:
Copybara-Service
2022-11-10 04:12:34 -08:00
parent 0b45129ca4 8cc983af5b
commit f7b256de91
14 changed files with 611 additions and 134 deletions
Download Patch File Download Diff File Expand all files Collapse all files
simulate/CMakeLists.txt
+119 -109
View File
@@ -41,6 +41,9 @@ if(APPLE)
enable_language(OBJCXX)
endif()
option(SIMULATE_BUILD_EXECUTABLE "Build the simulate executable binary." ON)
option(SIMULATE_GLFW_DYNAMIC_SYMBOLS "Whether to resolve GLFW symbols dynamically." OFF)
# Check if we are building as standalone project.
set(SIMULATE_STANDALONE OFF)
set(_INSTALL_SIMULATE ON)
@@ -114,7 +117,8 @@ target_sources(
target_include_directories(libsimulate PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
target_compile_definitions(libsimulate PUBLIC MJSIMULATE_STATIC)
target_compile_options(libsimulate PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
target_link_libraries(libsimulate PUBLIC glfw lodepng mujoco::mujoco)
target_link_libraries(libsimulate PUBLIC lodepng mujoco::mujoco)
target_include_directories(libsimulate PUBLIC $<TARGET_PROPERTY:glfw,INTERFACE_INCLUDE_DIRECTORIES>)
target_link_options(libsimulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
if(APPLE)
@@ -122,126 +126,132 @@ if(APPLE)
target_link_libraries(libsimulate PUBLIC "-framework Cocoa")
endif()
if(SIMULATE_GLFW_DYNAMIC_SYMBOLS)
target_compile_definitions(libsimulate PUBLIC mjGLFW_DYNAMIC_SYMBOLS)
endif()
# Build simulate executable
if(APPLE)
set(SIMULATE_RESOURCE_FILES ${CMAKE_CURRENT_SOURCE_DIR}/../dist/mujoco.icns)
elseif(WIN32)
set(SIMULATE_RESOURCE_FILES ${CMAKE_CURRENT_SOURCE_DIR}/../dist/simulate.rc)
else()
set(SIMULATE_RESOURCE_FILES "")
endif()
if(SIMULATE_BUILD_EXECUTABLE)
if(APPLE)
set(SIMULATE_RESOURCE_FILES ${CMAKE_CURRENT_SOURCE_DIR}/../dist/mujoco.icns)
elseif(WIN32)
set(SIMULATE_RESOURCE_FILES ${CMAKE_CURRENT_SOURCE_DIR}/../dist/simulate.rc)
else()
set(SIMULATE_RESOURCE_FILES "")
endif()
add_executable(simulate main.cc array_safety.h ${SIMULATE_RESOURCE_FILES})
target_compile_options(simulate PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
if(WIN32)
add_custom_command(
TARGET simulate
PRE_BUILD
COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/../dist/mujoco.ico
${CMAKE_CURRENT_SOURCE_DIR}
POST_BUILD
COMMAND ${CMAKE_COMMAND} -E rm ${CMAKE_CURRENT_SOURCE_DIR}/mujoco.ico
)
endif()
add_executable(simulate main.cc array_safety.h ${SIMULATE_RESOURCE_FILES})
target_compile_options(simulate PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
if(WIN32)
add_custom_command(
TARGET simulate
PRE_BUILD
COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/../dist/mujoco.ico
${CMAKE_CURRENT_SOURCE_DIR}
POST_BUILD
COMMAND ${CMAKE_COMMAND} -E rm ${CMAKE_CURRENT_SOURCE_DIR}/mujoco.ico
)
endif()
target_link_libraries(
simulate
libsimulate
mujoco::mujoco
glfw
Threads::Threads
lodepng
)
target_link_options(simulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
set_target_properties(
target_link_libraries(
simulate
PROPERTIES INSTALL_RPATH @executable_path/../Frameworks
BUILD_WITH_INSTALL_RPATH TRUE
RESOURCE ${SIMULATE_RESOURCE_FILES}
MACOSX_BUNDLE TRUE
MACOSX_BUNDLE_INFO_PLIST ${CMAKE_CURRENT_SOURCE_DIR}/../dist/Info.plist.simulate.in
MACOSX_BUNDLE_BUNDLE_NAME "MuJoCo"
MACOSX_BUNDLE_GUI_IDENTIFIER "org.mujoco.mujoco"
MACOSX_BUNDLE_BUNDLE_VERSION ${PROJECT_VERSION}
MACOSX_BUNDLE_INFO_STRING ${PROJECT_VERSION}
MACOSX_BUNDLE_LONG_VERSION_STRING ${PROJECT_VERSION}
MACOSX_BUNDLE_SHORT_VERSION_STRING ${PROJECT_VERSION}
MACOSX_BUNDLE_ICON_FILE "mujoco.icns"
MACOSX_BUNDLE_COPYRIGHT "Copyright 2021 DeepMind Technologies Limited."
libsimulate
mujoco::mujoco
glfw
Threads::Threads
lodepng
)
macro(embed_in_bundle target)
add_dependencies(${target} simulate)
target_link_options(simulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
set_target_properties(
${target}
simulate
PROPERTIES INSTALL_RPATH @executable_path/../Frameworks
BUILD_WITH_INSTALL_RPATH TRUE
RUNTIME_OUTPUT_DIRECTORY $<TARGET_FILE_DIR:simulate>
RESOURCE ${SIMULATE_RESOURCE_FILES}
MACOSX_BUNDLE TRUE
MACOSX_BUNDLE_INFO_PLIST ${CMAKE_CURRENT_SOURCE_DIR}/../dist/Info.plist.simulate.in
MACOSX_BUNDLE_BUNDLE_NAME "MuJoCo"
MACOSX_BUNDLE_GUI_IDENTIFIER "org.mujoco.mujoco"
MACOSX_BUNDLE_BUNDLE_VERSION ${PROJECT_VERSION}
MACOSX_BUNDLE_INFO_STRING ${PROJECT_VERSION}
MACOSX_BUNDLE_LONG_VERSION_STRING ${PROJECT_VERSION}
MACOSX_BUNDLE_SHORT_VERSION_STRING ${PROJECT_VERSION}
MACOSX_BUNDLE_ICON_FILE "mujoco.icns"
MACOSX_BUNDLE_COPYRIGHT "Copyright 2021 DeepMind Technologies Limited."
)
endmacro()
# Embed mujoco.framework inside the App bundle ane move the icon file over too.
add_custom_command(
TARGET simulate
POST_BUILD
COMMAND mkdir -p $<TARGET_FILE_DIR:simulate>/../Frameworks
COMMAND rm -rf $<TARGET_FILE_DIR:simulate>/../Frameworks/mujoco.framework
COMMAND cp -a $<TARGET_FILE_DIR:mujoco::mujoco>/../../../mujoco.framework
$<TARGET_FILE_DIR:simulate>/../Frameworks/
# Delete the symlink and the TBD, otherwise we can't sign and notarize.
COMMAND rm -rf $<TARGET_FILE_DIR:simulate>/../Frameworks/mujoco.framework/mujoco.tbd
COMMAND rm -rf
$<TARGET_FILE_DIR:simulate>/../Frameworks/mujoco.framework/Versions/A/libmujoco.dylib
)
endif()
# Do not install if macOS Bundles are created as RPATH is managed manually there.
if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
set(_INSTALL_SIMULATE OFF)
endif()
if(_INSTALL_SIMULATE)
include(TargetAddRpath)
# Add support to RPATH for the samples.
target_add_rpath(
TARGETS
simulate
INSTALL_DIRECTORY
"${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}"
LIB_DIRS
"${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}"
DEPENDS
MUJOCO_ENABLE_RPATH
)
install(
TARGETS simulate
EXPORT ${PROJECT_NAME}
RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT simulate
LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
BUNDLE DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT simulate
PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} COMPONENT simulate
)
if(NOT MUJOCO_SIMULATE_USE_SYSTEM_GLFW)
# We downloaded GLFW. Depending if it is a static or shared LIBRARY we might
# need to install it.
get_target_property(MJ_GLFW_LIBRARY_TYPE glfw TYPE)
if(MJ_GLFW_LIBRARY_TYPE STREQUAL SHARED_LIBRARY)
install(
TARGETS glfw
EXPORT ${PROJECT_NAME}
RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT simulate
LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} COMPONENT simulate
macro(embed_in_bundle target)
add_dependencies(${target} simulate)
set_target_properties(
${target}
PROPERTIES INSTALL_RPATH @executable_path/../Frameworks
BUILD_WITH_INSTALL_RPATH TRUE
RUNTIME_OUTPUT_DIRECTORY $<TARGET_FILE_DIR:simulate>
)
endmacro()
# Embed mujoco.framework inside the App bundle ane move the icon file over too.
add_custom_command(
TARGET simulate
POST_BUILD
COMMAND mkdir -p $<TARGET_FILE_DIR:simulate>/../Frameworks
COMMAND rm -rf $<TARGET_FILE_DIR:simulate>/../Frameworks/mujoco.framework
COMMAND cp -a $<TARGET_FILE_DIR:mujoco::mujoco>/../../../mujoco.framework
$<TARGET_FILE_DIR:simulate>/../Frameworks/
# Delete the symlink and the TBD, otherwise we can't sign and notarize.
COMMAND rm -rf $<TARGET_FILE_DIR:simulate>/../Frameworks/mujoco.framework/mujoco.tbd
COMMAND rm -rf
$<TARGET_FILE_DIR:simulate>/../Frameworks/mujoco.framework/Versions/A/libmujoco.dylib
)
endif()
# Do not install if macOS Bundles are created as RPATH is managed manually there.
if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
set(_INSTALL_SIMULATE OFF)
endif()
if(_INSTALL_SIMULATE)
include(TargetAddRpath)
# Add support to RPATH for the samples.
target_add_rpath(
TARGETS
simulate
INSTALL_DIRECTORY
"${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}"
LIB_DIRS
"${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}"
DEPENDS
MUJOCO_ENABLE_RPATH
)
install(
TARGETS simulate
EXPORT ${PROJECT_NAME}
RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT simulate
LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
BUNDLE DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT simulate
PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} COMPONENT simulate
)
if(NOT MUJOCO_SIMULATE_USE_SYSTEM_GLFW)
# We downloaded GLFW. Depending if it is a static or shared LIBRARY we might
# need to install it.
get_target_property(MJ_GLFW_LIBRARY_TYPE glfw TYPE)
if(MJ_GLFW_LIBRARY_TYPE STREQUAL SHARED_LIBRARY)
install(
TARGETS glfw
EXPORT ${PROJECT_NAME}
RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT simulate
LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} COMPONENT simulate
)
endif()
endif()
endif()
endif()
simulate/glfw_dispatch.cc
+1 -4
View File
@@ -80,6 +80,7 @@ const struct Glfw& Glfw(void* dlhandle) {
// go/keep-sorted start
mjGLFW_INITIALIZE_SYMBOL(glfwCreateWindow);
mjGLFW_INITIALIZE_SYMBOL(glfwDestroyWindow);
mjGLFW_INITIALIZE_SYMBOL(glfwGetCursorPos);
mjGLFW_INITIALIZE_SYMBOL(glfwGetFramebufferSize);
mjGLFW_INITIALIZE_SYMBOL(glfwGetKey);
@@ -115,10 +116,6 @@ const struct Glfw& Glfw(void* dlhandle) {
#undef mjGLFW_INITIALIZE_SYMBOL
#if defined(mjGLFW_DYNAMIC_SYMBOLS) && !defined(_MSC_VER)
dlclose(dlhandle);
#endif
return glfw;
}();
return glfw;
simulate/glfw_dispatch.h
+1
View File
@@ -25,6 +25,7 @@ struct Glfw {
#define mjGLFW_DECLARE_SYMBOL(func) decltype(&::func) func
// go/keep-sorted start
mjGLFW_DECLARE_SYMBOL(glfwCreateWindow);
mjGLFW_DECLARE_SYMBOL(glfwDestroyWindow);
mjGLFW_DECLARE_SYMBOL(glfwGetCursorPos);
mjGLFW_DECLARE_SYMBOL(glfwGetFramebufferSize);
mjGLFW_DECLARE_SYMBOL(glfwGetKey);
simulate/main.cc
+9 -3
View File
@@ -337,7 +337,10 @@ void PhysicsLoop(mj::Simulate& sim) {
mjData* dnew = nullptr;
if (mnew) dnew = mj_makeData(mnew);
if (dnew) {
sim.load(sim.dropfilename, mnew, dnew, true);
sim.load(sim.dropfilename, mnew, dnew);
mj_deleteData(d);
mj_deleteModel(m);
m = mnew;
d = dnew;
@@ -356,7 +359,10 @@ void PhysicsLoop(mj::Simulate& sim) {
mjData* dnew = nullptr;
if (mnew) dnew = mj_makeData(mnew);
if (dnew) {
sim.load(sim.filename, mnew, dnew, true);
sim.load(sim.filename, mnew, dnew);
mj_deleteData(d);
mj_deleteModel(m);
m = mnew;
d = dnew;
@@ -482,7 +488,7 @@ void PhysicsThread(mj::Simulate* sim, const char* filename) {
m = LoadModel(filename, *sim);
if (m) d = mj_makeData(m);
if (d) {
sim->load(filename, m, d, true);
sim->load(filename, m, d);
mj_forward(m, d);
// allocate ctrlnoise
simulate/simulate.cc
+10 -14
View File
@@ -1575,11 +1575,9 @@ void Simulate::applyforceperturbations() {
//------------------------- Tell the render thread to load a file and wait -------------------------
void Simulate::load(const char* file,
mjModel* mnew,
mjData* dnew,
bool delete_old_m_d) {
mjData* dnew) {
this->mnew = mnew;
this->dnew = dnew;
this->delete_old_m_d = delete_old_m_d;
mju::strcpy_arr(this->filename, file);
{
@@ -1595,16 +1593,6 @@ void Simulate::load(const char* file,
//------------------------------------- load mjb or xml model --------------------------------------
void Simulate::loadmodel() {
if (this->delete_old_m_d) {
// delete old model if requested
if (this->d) {
mj_deleteData(d);
}
if (this->m) {
mj_deleteModel(m);
}
}
this->m = this->mnew;
this->d = this->dnew;
@@ -1618,7 +1606,8 @@ void Simulate::loadmodel() {
this->pert.skinselect = -1;
// align and scale view unless reloading the same file
if (mju::strcmp_arr(this->filename, this->previous_filename)) {
if (this->filename[0] &&
mju::strcmp_arr(this->filename, this->previous_filename)) {
alignscale(this);
mju::strcpy_arr(this->previous_filename, this->filename);
}
@@ -1980,6 +1969,13 @@ void Simulate::renderloop() {
this->clearcallback();
mjv_freeScene(&this->scn);
mjr_freeContext(&this->con);
Glfw().glfwDestroyWindow(this->window);
}
//------------------------------------ setup the glfw dispatch table -------------------------------
void setglfwdlhandle(void* dlhandle) {
Glfw(dlhandle);
}
} // namespace mujoco
simulate/simulate.h
+5 -2
View File
@@ -54,7 +54,7 @@ class MJSIMULATEAPI Simulate {
// Request that the Simulate UI thread render a new model
// optionally delete the old model and data when done
void load(const char* file, mjModel* m, mjData* d, bool delete_old_m_d);
void load(const char* file, mjModel* m, mjData* d);
// functions below are used by the renderthread
// load mjb or xml model that has been requested by load()
@@ -79,7 +79,6 @@ class MJSIMULATEAPI Simulate {
// model and data to be visualized
mjModel* mnew = nullptr;
mjData* dnew = nullptr;
bool delete_old_m_d = false;
mjModel* m = nullptr;
mjData* d = nullptr;
@@ -228,6 +227,10 @@ class MJSIMULATEAPI Simulate {
char info_content[Simulate::kMaxFilenameLength] = {0};
};
// setup the glfw dispatch table
// if set, must be called prior to other Simulate functions
MJSIMULATEAPI void setglfwdlhandle(void* dlhandle);
} // namespace mujoco
#endif