pax_global_header00006660000000000000000000000064143061057620014516gustar00rootroot0000000000000052 comment=9b694103e66a60ba602630cba528c50058328117 mujoco-2.2.2/000077500000000000000000000000001430610576200130155ustar00rootroot00000000000000mujoco-2.2.2/.github/000077500000000000000000000000001430610576200143555ustar00rootroot00000000000000mujoco-2.2.2/.github/ISSUE_TEMPLATE/000077500000000000000000000000001430610576200165405ustar00rootroot00000000000000mujoco-2.2.2/.github/ISSUE_TEMPLATE/ask_for_help.md000066400000000000000000000021301430610576200215120ustar00rootroot00000000000000--- name: Asking for help about: Request help from the developers and the community title: '' labels: question assignees: '' --- **How to ask for help** First, read our quick guide to [asking good questions](https://github.com/deepmind/mujoco#asking-questions). Below is a template for you to use: Hi, I'm a (student / professor / engineer) and I'm trying to use MuJoCo for _____. I'm looking for some help with ____. Here is a model which explains my question:
minimal XML ```XML ```
Here is a screenshot / video, illustrating my question: mujoco-2.2.2/.github/ISSUE_TEMPLATE/bug_report.md000066400000000000000000000014011430610576200212260ustar00rootroot00000000000000--- name: Bug report about: Create a report to help us improve title: '' labels: bug assignees: '' --- **How to submit a good bug report** - Are you sure this is a bug? If not, consider using the "Ask for help" or "Feature request" templates. - Use a clear and descriptive title. - Make it easy to reproduce the problem. - Include a ***minimal*** model that demonstrates the problem. If the model is small, include it as inline XML. If it requires binary assets, attach it as a zip file. - Include a screenshot or video, if relevant. - Include the following context: - Operating system. - MuJoCo version (and if the bug is new, the version where it used to work). - For Python issues, what bindings are you using (i.e `mujoco`, `dm_control`, `mujoco-py`)?mujoco-2.2.2/.github/ISSUE_TEMPLATE/feature_request.md000066400000000000000000000011251430610576200222640ustar00rootroot00000000000000--- name: Feature request about: Suggest an idea for MuJoCo title: '' labels: enhancement assignees: '' --- **Is your feature request related to a problem? Please describe.** A clear and concise description of what the problem is. Ex. I'm always frustrated when [...] **Describe the solution you'd like** A clear and concise description of what you want to happen. **Describe alternatives you've considered** A clear and concise description of any alternative solutions or features you've considered. **Additional context** Add any other context or screenshots about the feature request here.mujoco-2.2.2/.github/workflows/000077500000000000000000000000001430610576200164125ustar00rootroot00000000000000mujoco-2.2.2/.github/workflows/build.yml000066400000000000000000000147311430610576200202420ustar00rootroot00000000000000# This configuration is used to build and test on GitHub Actions only. # It is not the same configuration that is used by DeepMind to create release binaries. # The "official" binaries are built with Clang 13 on all platforms, and are linked against libc++ # on Linux. # # We set CMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF here to reduce build time. # It is highly recommended that this is set to ON for production builds. name: build on: push: branches: [main] pull_request: branches: [main] jobs: mujoco: strategy: matrix: include: - os: ubuntu-22.04 additional_label: "with GCC 11" cmake_args: >- -G Ninja -DCMAKE_C_COMPILER:STRING=gcc-11 -DCMAKE_CXX_COMPILER:STRING=g++-11 tmpdir: "/tmp" - os: ubuntu-20.04 additional_label: "with GCC 10" cmake_args: >- -G Ninja -DCMAKE_C_COMPILER:STRING=gcc-10 -DCMAKE_CXX_COMPILER:STRING=g++-10 tmpdir: "/tmp" - os: ubuntu-20.04 additional_label: "with GCC 9" cmake_args: >- -G Ninja -DCMAKE_C_COMPILER:STRING=gcc-9 -DCMAKE_CXX_COMPILER:STRING=g++-9 tmpdir: "/tmp" - os: ubuntu-22.04 additional_label: "with Clang 14" cmake_args: >- -G Ninja -DCMAKE_C_COMPILER:STRING=clang-14 -DCMAKE_CXX_COMPILER:STRING=clang++-14 -DMUJOCO_HARDEN:BOOL=ON tmpdir: "/tmp" - os: ubuntu-22.04 additional_label: "with Clang 13" cmake_args: >- -G Ninja -DCMAKE_C_COMPILER:STRING=clang-13 -DCMAKE_CXX_COMPILER:STRING=clang++-13 -DMUJOCO_HARDEN:BOOL=ON tmpdir: "/tmp" - os: ubuntu-22.04 additional_label: "with Clang 12" cmake_args: >- -G Ninja -DCMAKE_C_COMPILER:STRING=clang-12 -DCMAKE_CXX_COMPILER:STRING=clang++-12 -DMUJOCO_HARDEN:BOOL=ON tmpdir: "/tmp" - os: ubuntu-20.04 additional_label: "with Clang 11" cmake_args: >- -G Ninja -DCMAKE_C_COMPILER:STRING=clang-11 -DCMAKE_CXX_COMPILER:STRING=clang++-11 -DMUJOCO_HARDEN:BOOL=ON tmpdir: "/tmp" - os: ubuntu-20.04 additional_label: "with Clang 10" cmake_args: >- -G Ninja -DCMAKE_C_COMPILER:STRING=clang-10 -DCMAKE_CXX_COMPILER:STRING=clang++-10 -DMUJOCO_HARDEN:BOOL=ON tmpdir: "/tmp" - os: macos-12 cmake_args: >- -G Ninja -DMUJOCO_HARDEN:BOOL=ON tmpdir: "/tmp" - os: windows-2022 cmake_build_args: "-- -m" tmpdir: "C:/Temp" name: "MuJoCo on ${{ matrix.os }} ${{ matrix.additional_label }}" runs-on: ${{ matrix.os }} steps: - uses: actions/checkout@v3 - name: Prepare Linux if: ${{ runner.os == 'Linux' }} run: > sudo apt-get update && sudo apt-get install libgl1-mesa-dev libxinerama-dev libxcursor-dev libxrandr-dev libxi-dev ninja-build - name: Prepare macOS if: ${{ runner.os == 'macOS' }} run: brew install ninja - uses: actions/setup-python@v3 with: python-version: "3.10" - name: Prepare Python shell: bash run: | cd ${{ matrix.tmpdir }} python -m venv venv if [[ $RUNNER_OS == "Windows" ]]; then mkdir venv/bin fixpath="$(s="$(cat venv/Scripts/activate | grep VIRTUAL_ENV=)"; echo "${s:13:-1}")" sed -i "s#$(printf "%q" "${fixpath}")#$(cygpath "${fixpath}")#g" venv/Scripts/activate ln -s ../Scripts/activate venv/bin/activate fi source venv/bin/activate python -m pip install --upgrade pip pip install pytest wheel - name: Configure MuJoCo run: > mkdir build && cd build && cmake .. -DCMAKE_BUILD_TYPE:STRING=Release -DCMAKE_INSTALL_PREFIX:STRING=${{ matrix.tmpdir }}/mujoco_install -DMUJOCO_BUILD_EXAMPLES:BOOL=OFF ${{ matrix.cmake_args }} - name: Build MuJoCo working-directory: build run: cmake --build . --config=Release ${{ matrix.cmake_build_args }} - name: Test MuJoCo working-directory: build run: ctest -C Release --output-on-failure . - name: Install MuJoCo working-directory: build run: cmake --install . - name: Configure samples working-directory: sample run: > mkdir build && cd build && cmake .. -DCMAKE_BUILD_TYPE:STRING=Release -Dmujoco_ROOT:STRING=${{ matrix.tmpdir }}/mujoco_install ${{ matrix.cmake_args }} - name: Build samples working-directory: sample/build run: cmake --build . --config=Release ${{ matrix.cmake_build_args }} - name: Configure simulate working-directory: simulate run: > mkdir build && cd build && cmake .. -DCMAKE_BUILD_TYPE:STRING=Release -Dmujoco_ROOT:STRING=${{ matrix.tmpdir }}/mujoco_install ${{ matrix.cmake_args }} - name: Build simulate working-directory: simulate/build run: cmake --build . --config=Release ${{ matrix.cmake_build_args }} - name: Make Python sdist shell: bash working-directory: python run: > source ${{ matrix.tmpdir }}/venv/bin/activate && ./make_sdist.sh - name: Build Python bindings if: ${{ runner.os != 'Windows' }} shell: bash working-directory: python/dist run: > source ${{ matrix.tmpdir }}/venv/bin/activate && MUJOCO_PATH="${{ matrix.tmpdir }}/mujoco_install" MUJOCO_CMAKE_ARGS="-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF ${{ matrix.cmake_args }}" pip wheel -v --no-deps mujoco-*.tar.gz - name: Install Python bindings if: ${{ runner.os != 'Windows' }} shell: bash working-directory: python/dist run: > source ${{ matrix.tmpdir }}/venv/bin/activate && pip install mujoco-*.whl - name: Test Python bindings if: ${{ runner.os != 'Windows' }} shell: bash env: MUJOCO_GL: disable run: > source ${{ matrix.tmpdir }}/venv/bin/activate && pytest -v --pyargs mujoco mujoco-2.2.2/.gitignore000066400000000000000000000005601430610576200150060ustar00rootroot00000000000000# Don't commit binaries *.a *.asm *.dll *.dylib *.exe *.lib *.out *.o *.so *.so.* # Exclude editor config .vscode/ .vs/ # Exclude temporary folders *.egg-info/ build/ build_cmake/ # Exclude macOS folder attributes .DS_Store # Exclude macOS Info.framework.plist Info.framework.plist # Python byte-compiled / optimized / DLL files __pycache__/ *.py[cod] *$py.class mujoco-2.2.2/.readthedocs.yml000066400000000000000000000004761430610576200161120ustar00rootroot00000000000000# Read the Docs configuration file # See https://docs.readthedocs.io/en/stable/config-file/v2.html for details version: 2 build: os: ubuntu-20.04 tools: python: "3.10" sphinx: builder: html configuration: doc/conf.py fail_on_warning: false python: install: - requirements: doc/requirements.txt mujoco-2.2.2/CMakeLists.txt000066400000000000000000000157741430610576200155730ustar00rootroot00000000000000# Copyright 2021 DeepMind Technologies Limited # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # https://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. cmake_minimum_required(VERSION 3.16) # Make CMAKE_C_VISIBILITY_PRESET work properly. set(CMAKE_POLICY_DEFAULT_CMP0063 NEW) # INTERPROCEDURAL_OPTIMIZATION is enforced when enabled. set(CMAKE_POLICY_DEFAULT_CMP0069 NEW) # Default to GLVND if available. set(CMAKE_POLICY_DEFAULT_CMP0072 NEW) # Avoid BUILD_SHARED_LIBS getting overridden by an option() in ccd. set(CMAKE_POLICY_DEFAULT_CMP0077 NEW) # This line has to appear before 'PROJECT' in order to be able to disable incremental linking set(MSVC_INCREMENTAL_DEFAULT ON) project( mujoco VERSION 2.2.2 DESCRIPTION "MuJoCo Physics Simulator" HOMEPAGE_URL "https://mujoco.org" ) enable_language(C) enable_language(CXX) list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake") option(MUJOCO_BUILD_EXAMPLES "Build samples for MuJoCo" ON) option(MUJOCO_BUILD_SIMULATE "Build simulate library for MuJoCo" ON) option(MUJOCO_BUILD_TESTS "Build tests for MuJoCo" ON) option(MUJOCO_TEST_PYTHON_UTIL "Build and test utility libraries for Python bindings" ON) if(APPLE AND (MUJOCO_BUILD_EXAMPLES OR MUJOCO_BUILD_SIMULATE)) enable_language(OBJC) enable_language(OBJCXX) endif() include(MujocoOptions) include(MujocoMacOS) include(MujocoDependencies) set(MUJOCO_HEADERS include/mujoco/mjdata.h include/mujoco/mjexport.h include/mujoco/mjmodel.h include/mujoco/mjrender.h include/mujoco/mjtnum.h include/mujoco/mjui.h include/mujoco/mjvisualize.h include/mujoco/mjxmacro.h include/mujoco/mujoco.h ) add_library(mujoco SHARED) target_include_directories( mujoco PUBLIC $ $ PRIVATE src ) add_subdirectory(src/engine) add_subdirectory(src/user) add_subdirectory(src/xml) add_subdirectory(src/render) add_subdirectory(src/ui) target_compile_definitions(mujoco PRIVATE _GNU_SOURCE CCD_STATIC_DEFINE MUJOCO_DLL_EXPORTS) if(MUJOCO_ENABLE_AVX_INTRINSICS) target_compile_definitions(mujoco PUBLIC mjUSEPLATFORMSIMD) endif() target_compile_options( mujoco PRIVATE ${AVX_COMPILE_OPTIONS} ${MUJOCO_MACOS_COMPILE_OPTIONS} ${EXTRA_COMPILE_OPTIONS} ${MUJOCO_CXX_FLAGS} ) target_link_options( mujoco PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS} ${EXTRA_LINK_OPTIONS} ) target_link_libraries( mujoco PRIVATE ccd lodepng qhullstatic_r tinyobjloader tinyxml2 ) set_target_properties( mujoco PROPERTIES VERSION "${mujoco_VERSION}" PUBLIC_HEADER "${MUJOCO_HEADERS}" ) # CMake's built-in FRAMEWORK option doesn't give us control over the dylib name inside the # Framework. We instead make our own Framework here. if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS) set(TAPI "/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/tapi" ) configure_file( ${CMAKE_CURRENT_SOURCE_DIR}/dist/Info.plist.framework.in ${CMAKE_CURRENT_SOURCE_DIR}/dist/Info.framework.plist ) set_target_properties( mujoco PROPERTIES LIBRARY_OUTPUT_DIRECTORY "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/mujoco.framework/Versions/A" BUILD_WITH_INSTALL_NAME_DIR TRUE INSTALL_NAME_DIR "@rpath/mujoco.framework/Versions/A" ) add_custom_command( TARGET mujoco POST_BUILD COMMAND mkdir -p $/Headers COMMAND cd ${CMAKE_CURRENT_SOURCE_DIR} && cp ${MUJOCO_HEADERS} $/Headers COMMAND mkdir -p $/Modules COMMAND cp ${CMAKE_CURRENT_SOURCE_DIR}/dist/module.modulemap $/Modules COMMAND mkdir -p $/Resources COMMAND mv ${CMAKE_CURRENT_SOURCE_DIR}/dist/Info.framework.plist $/Resources/Info.plist COMMAND ${TAPI} stubify $ -o $/mujoco.tbd COMMAND ln -fhs A $/../Current COMMAND ln -fhs Versions/Current/mujoco.tbd $/../../mujoco.tbd COMMAND ln -fhs Versions/Current/Headers $/../../Headers COMMAND ln -fhs Versions/Current/Modules $/../../Modules COMMAND ln -fhs Versions/Current/Resources $/../../Resources COMMAND_EXPAND_LISTS ) endif() # Add a namespace alias to mujoco to be used by the examples. # This simulates the install interface when building with sources. add_library(mujoco::mujoco ALIAS mujoco) add_subdirectory(model) # `simulate` defines a macro, embed_in_bundle, that's used by `sample`, so that # subdirectory needs to be added first. # TODO: Remove this order dependency. if(MUJOCO_BUILD_SIMULATE) add_subdirectory(simulate) endif() if(MUJOCO_BUILD_EXAMPLES) add_subdirectory(sample) endif() if(BUILD_TESTING AND MUJOCO_BUILD_TESTS) enable_testing() add_subdirectory(test) if(MUJOCO_TEST_PYTHON_UTIL) add_subdirectory(python/mujoco/util) endif() endif() if(NOT (APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)) # Install the libraries. install( TARGETS mujoco EXPORT ${PROJECT_NAME} RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT runtime ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT dev PUBLIC_HEADER DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/mujoco" COMPONENT dev ) set(CONFIG_PACKAGE_LOCATION "${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}") # Generate and install the mujocoTargets.cmake file. This defines the targets as # IMPORTED libraries for downstream users. install( EXPORT ${PROJECT_NAME} DESTINATION ${CONFIG_PACKAGE_LOCATION} NAMESPACE mujoco:: FILE "${PROJECT_NAME}Targets.cmake" ) include(CMakePackageConfigHelpers) write_basic_package_version_file( "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake" VERSION ${mujoco_VERSION} COMPATIBILITY AnyNewerVersion ) configure_package_config_file( cmake/${PROJECT_NAME}Config.cmake.in "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake" INSTALL_DESTINATION ${CONFIG_PACKAGE_LOCATION} ) install(FILES "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake" "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake" DESTINATION ${CONFIG_PACKAGE_LOCATION} ) # Install also models into share folder. install( DIRECTORY model DESTINATION "${CMAKE_INSTALL_DATADIR}/mujoco" PATTERN "CMakeLists.txt" EXCLUDE ) endif() mujoco-2.2.2/CONTRIBUTING.md000066400000000000000000000077431430610576200152610ustar00rootroot00000000000000# Contributing to MuJoCo We intend for MuJoCo to be a true community-driven project and look forward to accepting your contributions! ## Before you contribute ### Documentation, forums Please read MuJoCo's [documentation](https://mujoco.readthedocs.io) and look through current topics on our GitHub [issues](https://github.com/deepmind/mujoco/issues) and [discussions](https://github.com/deepmind/mujoco/discussions) pages. ### Contributor License Agreement Contributions to this project must be accompanied by a Contributor License Agreement (CLA). You (or your employer) retain the copyright to your contribution; this simply gives us permission to use and redistribute your contributions as part of the project. Head over to to see your current agreements on file or to sign a new one. You generally only need to submit a CLA once, so if you've already submitted one (even if it was for a different project), you probably don't need to do it again. ## Contributing ### Reporting bugs How to submit a good bug report: - Use a clear and descriptive title. - Make it easy to reproduce the problem. If this requires a model, attach it as a zip file to the bug report. The model and steps required to reproduce the proplem should be *minimal*, in the sense that irrelevant parts are removed. - Clearly state what is the expected behavior. - Include an illustrative screenshot, if relevant. Try to provide context: - If the problem is new, see if you can reproduce it in an older version. What's the most recent version in which the problem doesn't happen? - Can you reproduce the problem on multiple platforms? ### Suggesting enhancements Before submitting an enhancement suggestion: - Check if you're using the [latest version](https://github.com/deepmind/mujoco/releases/latest) of MuJoCo. - Perform a quick [search](https://github.com/deepmind/mujoco/issues) to see if the enhancement has already been suggested. If it has, add a comment to the existing issue instead of opening a new one. How to submit a good enhacement suggestion: - Use a clear and descriptive title. - Describe the current behaviour and the behavior which you hope to see instead. - Explain why this enhancement would be useful. - Specify the version of MuJoCo and platform/OS you are using. ### Contributing code - Except for small and straightforward bugfixes, please get in touch with us before you start working on a contribution so that we can help and possibly guide you. Coordinating up front makes it much easier to avoid frustration later on. - All submissions require review. Please use GitHub pull requests for this purpose. Please consult [GitHub Help](https://help.github.com/articles/about-pull-requests/) for more information on pull requests. - Write tests. MuJoCo uses [googletest](https://github.com/google/googletest) for C++ tests, [absltest](https://abseil.io/docs/python/guides/testing) for Python binding code and [nunit](https://nunit.org/) for C# code in the Unity plugin. In most cases, a pull request will only be accepted if it includes tests. MuJoCo's internal codebase is currently lacking in test coverage. If you want to modify a function that isn't covered by tests, you'll be expected to contribute tests for the existing functionality, not just your modification. In fact, writing a test for existing code is a great way to get started with contributions. - Resolve compiler warnings. - All existing tests must pass. - Follow the [Style Guide](./STYLEGUIDE.md). In particular, adequately comment your code. - Make small pull requests. We will likely ask you to split up a large pull request into self-contained, smaller ones, especially if the PR is trying to achieve multiple things. - Respond to reviewers. Please be responsive to any questions and comments. Once you have met all the requirements, your code will be merged. Thanks for improving MuJoCo! ### Community guidelines This project follows Google's [Open Source Community Guidelines](https://opensource.google/conduct/). mujoco-2.2.2/LICENSE000066400000000000000000000261361430610576200140320ustar00rootroot00000000000000 Apache License Version 2.0, January 2004 http://www.apache.org/licenses/ TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 1. Definitions. "License" shall mean the terms and conditions for use, reproduction, and distribution as defined by Sections 1 through 9 of this document. "Licensor" shall mean the copyright owner or entity authorized by the copyright owner that is granting the License. "Legal Entity" shall mean the union of the acting entity and all other entities that control, are controlled by, or are under common control with that entity. For the purposes of this definition, "control" means (i) the power, direct or indirect, to cause the direction or management of such entity, whether by contract or otherwise, or (ii) ownership of fifty percent (50%) or more of the outstanding shares, or (iii) beneficial ownership of such entity. "You" (or "Your") shall mean an individual or Legal Entity exercising permissions granted by this License. "Source" form shall mean the preferred form for making modifications, including but not limited to software source code, documentation source, and configuration files. 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While redistributing the Work or Derivative Works thereof, You may choose to offer, and charge a fee for, acceptance of support, warranty, indemnity, or other liability obligations and/or rights consistent with this License. However, in accepting such obligations, You may act only on Your own behalf and on Your sole responsibility, not on behalf of any other Contributor, and only if You agree to indemnify, defend, and hold each Contributor harmless for any liability incurred by, or claims asserted against, such Contributor by reason of your accepting any such warranty or additional liability. END OF TERMS AND CONDITIONS APPENDIX: How to apply the Apache License to your work. To apply the Apache License to your work, attach the following boilerplate notice, with the fields enclosed by brackets "[]" replaced with your own identifying information. (Don't include the brackets!) The text should be enclosed in the appropriate comment syntax for the file format. We also recommend that a file or class name and description of purpose be included on the same "printed page" as the copyright notice for easier identification within third-party archives. Copyright [yyyy] [name of copyright owner] Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License. mujoco-2.2.2/README.md000066400000000000000000000212721430610576200143000ustar00rootroot00000000000000# MuJoCo Physics

**MuJoCo** stands for **Mu**lti-**Jo**int dynamics with **Co**ntact. It is a general purpose physics engine that aims to facilitate research and development in robotics, biomechanics, graphics and animation, machine learning, and other areas which demand fast and accurate simulation of articulated structures interacting with their environment. This repository is maintained by DeepMind, please see our [acquisition] and [open sourcing] announcements. MuJoCo has a C API and is intended for researchers and developers. The runtime simulation module is tuned to maximize performance and operates on low-level data structures that are preallocated by the built-in XML compiler. The library includes interactive visualization with a native GUI, rendered in OpenGL. MuJoCo further exposes a large number of utility functions for computing physics-related quantities. We also provide Python bindings and a plug-in for the [Unity] game engine. ## Installation ### Prebuilt binaries Versioned releases are available as precompiled binaries from the GitHub [releases page], built for Linux (x86-64 and AArch64), Windows (x86-64 only), and macOS (universal). This is the recommended way to use the software. ### Building from source Users who wish to build MuJoCo from source should consult the [build from source] section of the documentation. However, please note that the commit at the tip of the `main` branch may be unstable. ### Python (>= 3.7) The native Python bindings, which come pre-packaged with a copy of MuJoCo, can be installed from [PyPI] via: ```bash pip install mujoco ``` Note that Pre-built Linux wheels target `manylinux2014`, see [here](https://github.com/pypa/manylinux) for compatible distributions. For more information such as building the bindings from source, see the [Python Bindings] section of the documentation. ## Documentation MuJoCo's documentation is available at [mujoco.readthedocs.io], which serves webpages derived from the [documentation source files]. ## Getting Started There are two easy ways to get started with MuJoCo: 1. **Run `simulate` on your machine.** [This video](https://www.youtube.com/watch?v=0ORsj_E17B0) shows a screen capture of `simulate`, MuJoCo's native interactive viewer. Follow the steps described in the [Getting Started] section of the documentation to get `simulate` running on your machine. 2. **Explore our online IPython notebooks.** If you are a Python user, you might want to start with our tutorial notebooks, running on Google Colab: - The first tutorial focuses on the basic MuJoCo Python bindings: [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/deepmind/dm_control/blob/main/dm_control/mujoco/tutorial.ipynb) - The second tutorial includes more examples of `dm_control`-specific functionality: [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/deepmind/dm_control/blob/main/tutorial.ipynb) ## Asking Questions We welcome community engagement: questions, requests for help, bug reports and feature requests. To read more about bug reports, feature requests and more ambitious contributions, please see our [contributors guide](CONTRIBUTING.md). Questions and requests for help are welcome on the GitHub [issues](https://github.com/deepmind/mujoco/issues) and [discussions](https://github.com/deepmind/mujoco/discussions) pages. Issues should be focused on a specific problem or question, while discussions should address wider concerns that might require input from multiple participants. Here are some guidelines for asking good questions: 1. Search for existing questions or issues that touch on the same subject. You can add comments to existing threads or start new ones. If you start a new thread and there are existing relevant threads, please link to them. 2. Use a clear and specific title. Try to include keywords that will make your question easy for other to find in the future. 3. Introduce yourself and your project more generally. If your level of expertise is exceptional (either high or low), and it might be relevant to what we can assume you know, please state that as well. 4. Take a step back and tell us what you're trying to accomplish, if we understand you goal we might suggest a different type of solution than the one you are having problems with 5. Make it easy for others to reproduce the problem or understand your question. If this requires a model, please include it. Try to make the model minimal: remove elements that are unrelated to your question. Pure XML models should be inlined. Models requiring binary assets (meshes, textures), should be attached as a `.zip` file. Please make sure the included model is loadable before you attach it. 6. Include an illustrative screenshot or video, if relevant. 7. Tell us how you are accessing MuJoCo (C API, Python bindings, etc.) and which MuJoCo version and operating system you are using. ## Related software MuJoCo forms the backbone of many environment packages, but these are too many to list here individually. Below we focus on bindings and converters. ### Bindings These packages give users of various languages access to MuJoCo functionality: #### First-party bindings - [Python bindings](https://mujoco.readthedocs.io/en/latest/python.html) - [dm_control](https://github.com/deepmind/dm_control), DeepMind's related environment stack, includes [PyMJCF](https://github.com/deepmind/dm_control/blob/main/dm_control/mjcf/README.md), a module for procedural manipulation of MuJoCo models. - [C# bindings and Unity plug-in](https://mujoco.readthedocs.io/en/latest/unity.html) #### Third-party bindings - **Swift**: [swift-mujoco](https://github.com/liuliu/swift-mujoco) - **Java**: [mujoco-java](https://github.com/CommonWealthRobotics/mujoco-java) - **Python**: [mujoco-py](https://github.com/openai/mujoco-py) (unmaintained) - **Julia**: [Lyceum](https://github.com/Lyceum/MuJoCo.jl) (unmaintained) ### Converters - **OpenSim**: [O2MConverter](https://github.com/aikkala/O2MConverter) converts openSIM models to MJCF. - **SDFormat**: [gz-mujoco](https://github.com/gazebosim/gz-mujoco/) is a two-way SDFormat <-> MJCF conversion tool. - **OBJ**: [obj2mjcf](https://github.com/kevinzakka/obj2mjcf) a script for converting composite OBJ files into a loadable MJCF model. ## Citation If you use MuJoCo for published research, please cite: ``` @inproceedings{todorov2012mujoco, title={MuJoCo: A physics engine for model-based control}, author={Todorov, Emanuel and Erez, Tom and Tassa, Yuval}, booktitle={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems}, pages={5026--5033}, year={2012}, organization={IEEE}, doi={10.1109/IROS.2012.6386109} } ``` ## License and Disclaimer Copyright 2021 DeepMind Technologies Limited. Box collision code ([`engine_collision_box.c`](https://github.com/deepmind/mujoco/tree/main/src/engine/engine_collision_box.c)) is Copyright 2016 Svetoslav Kolev. ReStructuredText documents, images, and videos in the `doc` directory are made available under the terms of the Creative Commons Attribution 4.0 (CC BY 4.0) license. You may obtain a copy of the License at https://creativecommons.org/licenses/by/4.0/legalcode. Source code is licensed under the Apache License, Version 2.0. You may obtain a copy of the License at https://www.apache.org/licenses/LICENSE-2.0. This is not an officially supported Google product. [build from source]: https://mujoco.readthedocs.io/en/latest/programming.html#building-mujoco-from-source [Getting Started]: https://mujoco.readthedocs.io/en/latest/programming.html#getting-started [acquisition]: https://www.deepmind.com/blog/opening-up-a-physics-simulator-for-robotics [open sourcing]: https://www.deepmind.com/blog/open-sourcing-mujoco [Unity]: https://unity.com/ [releases page]: https://github.com/deepmind/mujoco/releases [GitHub Issues]: https://github.com/deepmind/mujoco/issues [documentation source files]: https://github.com/deepmind/mujoco/tree/main/doc [mujoco.readthedocs.io]: https://mujoco.readthedocs.io [Python Bindings]: https://mujoco.readthedocs.io/en/latest/python.html#python-bindings [PyPI]: https://pypi.org/project/mujoco/ mujoco-2.2.2/SECURITY.md000066400000000000000000000004531430610576200146100ustar00rootroot00000000000000To report a security issue, please use [https://g.co/vulnz](https://g.co/vulnz). We use g.co/vulnz for our intake, and do coordination and disclosure here on GitHub (including using GitHub Security Advisory). The Google Security Team will respond within 5 working days of your report on g.co/vulnz. mujoco-2.2.2/STYLEGUIDE.md000066400000000000000000000136401430610576200150210ustar00rootroot00000000000000# MuJoCo Style Guide The MuJoCo codebase follows an internally consistent style that values compactness and readability. Please try to follow the style guide as closely as possible in your code contributions. ### Scope of this guide MuJoCo has three main code categories: 1. **C code:** MuJoCo's core codebase. It consists of public headers under `include/` and C source files and internal headers under `src/`. This style guide primarily concerns itself with this category. 2. **Legacy C++:** Files under `src/user/` and `src/xml/`. These do not necessarily follow best C++ practices. We intend to gradually replace these with new code that follows the [Google C++ style](https://google.github.io/styleguide/cppguide.html) over time. 3. **New code:** This includes C++ files under `test/` and `python/` and C# files under `unity/`. Added by DeepMind engineers, this code adheres to the [Google style](https://google.github.io/styleguide/). ### General principles Where any aspect of coding style is not explicitly spelled out in this guide, the following principle is followed: | Maximise consistency with the rest of the code. | | --- | If there is a contradiction between this guide and existing code, the guide takes precedence. Additional principles include: - Follow the [naming conventions](https://mujoco.readthedocs.io/en/latest/programming.html#naming-convention). - Be sparing with horizontal space: Try to keep lines short, avoid line-breaks where possble. - Be generous with vertical space: Empty lines between code blocks are good. - Keep names short. - Inline comments are part of the code, treat them as such. - Use American English in comments and documentation. ### Specific rules for C code Over time, this style guide will be expanded to cover most aspects of C programming in the MuJoCo codebase. In the meantime, it is usually enough to inspect existing code and try to follow its example. If there are any consistent coding patterns that are specific to the MuJoCo codebase but aren't mentioned in the guide, the guide should be expanded. If you spot such a pattern, feel free to send a PR to update the guide. #### Indentation 2-space indents, using space characters rather than tabs. #### Line length Line length is 100 characters. In rare situations, like the collision table at the top of [engine_collision_driver.c](https://github.com/deepmind/mujoco/blob/c8ff7b3d341560e8cc33fbdcaffbcdbc4c32327c/src/engine/engine_collision_driver.c#L36), longer lines are alowed for readability. #### Comments MuJoCo makes generous use of short, one-line comments describing the code block just below them. They are considered an essential part of the code. Comments should be: - As succinct as possible, while maintaining clarity. - Preceded by an empty line, unless at the top of a block. - Uncapitalized and not terminated by a full-stop. A helpful heuristic regarding in-code comments is that the reader should be able to get a sense of what is happening in a function just by reading the comments. An exception to the third bullet point above are function declaration comments in public header files which are considered to be docstrings rather than code and are therefore capitalized and terminated by a full stop. These docstrings are required. #### Braces - MuJoCo uses [attached K&R braces](https://en.wikipedia.org/wiki/Indentation_style#Variant:_mandatory_braces), including for one-line blocks: ```C // transpose matrix void mju_transpose(mjtNum* res, const mjtNum* mat, int nr, int nc) { for (int i=0; i int main(int argc, char* argv[]) { __m256d ymm; return 0; } " CAN_BUILD_AVX ) endif() if(CAN_BUILD_AVX) message(VERBOSE "Checking if AVX is available... AVX available.") set("${OUTPUT_VAR}" ${CMAKE_REQUIRED_FLAGS} PARENT_SCOPE ) else() message(VERBOSE "Checking if AVX is available... AVX not available.") set("${OUTPUT_VAR}" PARENT_SCOPE) endif() endfunction() mujoco-2.2.2/cmake/FindOrFetch.cmake000066400000000000000000000112131430610576200172300ustar00rootroot00000000000000# Copyright 2021 DeepMind Technologies Limited # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # https://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. # #.rst: # FindOrFetch # ---------------------- # # Find or fetch a package in order to satisfy target dependencies. # # FindOrFetch([USE_SYSTEM_PACKAGE [ON/OFF]] # [PACKAGE_NAME [name]] # [LIBRARY_NAME [name]] # [GIT_REPO [repo]] # [GIT_TAG [tag]] # [PATCH_COMMAND [cmd] [args]] # [TARGETS [targets]] # [EXCLUDE_FROM_ALL]) # # The command has the following parameters: # # Arguments: # - ``USE_SYSTEM_PACKAGE`` one-value argument on whether to search for the # package in the system (ON) or whether to fetch the library using # FetchContent from the specified Git repository (OFF). Note that # FetchContent variables will override this behaviour. # - ``PACKAGE_NAME`` name of the system-package. Ignored if # ``USE_SYSTEM_PACKAGE`` is ``OFF``. # - ``LIBRARY_NAME`` name of the library. Ignored if # ``USE_SYSTEM_PACKAGE`` is ``ON``. # - ``GIT_REPO`` git repository to fetch the library from. Ignored if # ``USE_SYSTEM_PACKAGE`` is ``ON``. # - ``GIT_TAG`` tag reference when fetching the library from the git # repository. Ignored if ``USE_SYSTEM_PACKAGE`` is ``ON``. # - ``PATCH_COMMAND`` Specifies a custom command to patch the sources after an # update. See https://cmake.org/cmake/help/latest/module/ExternalProject.html#command:externalproject_add # for details on the parameter. # - ``TARGETS`` list of targets to be satisfied. If any of these targets are # not currently defined, this macro will attempt to either find or fetch the # package. # - ``EXCLUDE_FROM_ALL`` if specified, the targets are not added to the ``all`` # metatarget. # # Note: if ``USE_SYSTEM_PACKAGE`` is ``OFF``, FetchContent will be used to # retrieve the specified targets. It is possible to specify any variable in # https://cmake.org/cmake/help/latest/module/FetchContent.html#variables to # override this macro behaviour. if(COMMAND FindOrFetch) return() endif() macro(FindOrFetch) if(NOT FetchContent) include(FetchContent) endif() # Parse arguments. set(options EXCLUDE_FROM_ALL) set(one_value_args USE_SYSTEM_PACKAGE PACKAGE_NAME LIBRARY_NAME GIT_REPO GIT_TAG ) set(multi_value_args PATCH_COMMAND TARGETS) cmake_parse_arguments( _ARGS "${options}" "${one_value_args}" "${multi_value_args}" ${ARGN} ) # Check if all targets are found. if(NOT _ARGS_TARGETS) message(FATAL_ERROR "mujoco::FindOrFetch: TARGETS must be specified.") endif() set(targets_found TRUE) message(CHECK_START "mujoco::FindOrFetch: checking for targets in package `${_ARGS_PACKAGE_NAME}`" ) foreach(target ${_ARGS_TARGETS}) if(NOT TARGET ${target}) message(CHECK_FAIL "target `${target}` not defined.") set(targets_found FALSE) break() endif() endforeach() # If targets are not found, use `find_package` or `FetchContent...` to get it. if(NOT targets_found) if(${_ARGS_USE_SYSTEM_PACKAGE}) message(CHECK_START "mujoco::FindOrFetch: finding `${_ARGS_PACKAGE_NAME}` in system packages..." ) find_package(${_ARGS_PACKAGE_NAME} REQUIRED) message(CHECK_PASS "found") else() message(CHECK_START "mujoco::FindOrFetch: Using FetchContent to retrieve `${_ARGS_LIBRARY_NAME}`" ) FetchContent_Declare( ${_ARGS_LIBRARY_NAME} GIT_REPOSITORY ${_ARGS_GIT_REPO} GIT_TAG ${_ARGS_GIT_TAG} GIT_SHALLOW FALSE PATCH_COMMAND ${_ARGS_PATCH_COMMAND} ) if(${_ARGS_EXCLUDE_FROM_ALL}) FetchContent_GetProperties(${_ARGS_LIBRARY_NAME}) if(NOT ${${_ARGS_LIBRARY_NAME}_POPULATED}) FetchContent_Populate(${_ARGS_LIBRARY_NAME}) add_subdirectory( ${${_ARGS_LIBRARY_NAME}_SOURCE_DIR} ${${_ARGS_LIBRARY_NAME}_BINARY_DIR} EXCLUDE_FROM_ALL ) endif() else() FetchContent_MakeAvailable(${_ARGS_LIBRARY_NAME}) endif() message(CHECK_PASS "Done") endif() else() message(CHECK_PASS "found") endif() endmacro() mujoco-2.2.2/cmake/MujocoDependencies.cmake000066400000000000000000000214011430610576200206400ustar00rootroot00000000000000# Copyright 2021 DeepMind Technologies Limited # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # https://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. # Build configuration for third party libraries used in MuJoCo. # Override the BUILD_SHARED_LIBS setting, just for building third party libs (since we always want # static libraries). The ccd CMakeLists.txt doesn't expose an option to build a static ccd library, # unless BUILD_SHARED_LIBS is set. set(MUJOCO_DEP_VERSION_lodepng b4ed2cd7ecf61d29076169b49199371456d4f90b CACHE STRING "Version of `lodepng` to be fetched." ) set(MUJOCO_DEP_VERSION_tinyxml2 1dee28e51f9175a31955b9791c74c430fe13dc82 # 9.0.0 CACHE STRING "Version of `tinyxml2` to be fetched." ) set(MUJOCO_DEP_VERSION_tinyobjloader 1421a10d6ed9742f5b2c1766d22faa6cfbc56248 CACHE STRING "Version of `tinyobjloader` to be fetched." ) set(MUJOCO_DEP_VERSION_ccd 7931e764a19ef6b21b443376c699bbc9c6d4fba8 # v2.1 CACHE STRING "Version of `ccd` to be fetched." ) set(MUJOCO_DEP_VERSION_qhull 3df027b91202cf179f3fba3c46eebe65bbac3790 CACHE STRING "Version of `qhull` to be fetched." ) set(MUJOCO_DEP_VERSION_Eigen3 34780d8bd13d0af0cf17a22789ef286e8512594d CACHE STRING "Version of `Eigen3` to be fetched." ) set(MUJOCO_DEP_VERSION_abseil 8c0b94e793a66495e0b1f34a5eb26bd7dc672db0 # LTS 20220623.1 CACHE STRING "Version of `abseil` to be fetched." ) set(MUJOCO_DEP_VERSION_gtest 58d77fa8070e8cec2dc1ed015d66b454c8d78850 # release-1.12.0 CACHE STRING "Version of `gtest` to be fetched." ) set(MUJOCO_DEP_VERSION_benchmark d845b7b3a27d54ad96280a29d61fa8988d4fddcf # v1.6.2 CACHE STRING "Version of `benchmark` to be fetched." ) mark_as_advanced(MUJOCO_DEP_VERSION_lodepng) mark_as_advanced(MUJOCO_DEP_VERSION_tinyxml2) mark_as_advanced(MUJOCO_DEP_VERSION_tinyobjloader) mark_as_advanced(MUJOCO_DEP_VERSION_ccd) mark_as_advanced(MUJOCO_DEP_VERSION_qhull) mark_as_advanced(MUJOCO_DEP_VERSION_Eigen3) mark_as_advanced(MUJOCO_DEP_VERSION_abseil) mark_as_advanced(MUJOCO_DEP_VERSION_gtest) mark_as_advanced(MUJOCO_DEP_VERSION_benchmark) include(FetchContent) include(FindOrFetch) # We force all the dependencies to be compiled as static libraries. # TODO(fraromano) Revisit this choice when adding support for install. set(BUILD_SHARED_LIBS_OLD ${BUILD_SHARED_LIBS}) set(BUILD_SHARED_LIBS OFF CACHE INTERNAL "Build SHARED libraries" ) if(NOT TARGET lodepng) FetchContent_Declare( lodepng GIT_REPOSITORY https://github.com/lvandeve/lodepng.git GIT_TAG ${MUJOCO_DEP_VERSION_lodepng} ) FetchContent_GetProperties(lodepng) if(NOT lodepng_POPULATED) FetchContent_Populate(lodepng) # This is not a CMake project. set(LODEPNG_SRCS ${lodepng_SOURCE_DIR}/lodepng.cpp) set(LODEPNG_HEADERS ${lodepng_SOURCE_DIR}/lodepng.h) add_library(lodepng STATIC ${LODEPNG_HEADERS} ${LODEPNG_SRCS}) target_compile_options(lodepng PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS}) target_link_options(lodepng PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS}) target_include_directories(lodepng PUBLIC ${lodepng_SOURCE_DIR}) endif() endif() # TODO(fraromano) We fetch qhull before the other libraries as it needs to go before until https://github.com/qhull/qhull/pull/111 is merged. set(QHULL_ENABLE_TESTING OFF) # We need Git to apply the patch using git apply. find_package(Git REQUIRED) findorfetch( USE_SYSTEM_PACKAGE OFF PACKAGE_NAME qhull LIBRARY_NAME qhull GIT_REPO https://github.com/qhull/qhull.git GIT_TAG ${MUJOCO_DEP_VERSION_qhull} TARGETS qhull # TODO(fraromano) Remove when https://github.com/qhull/qhull/pull/112 is merged. # Do not fail if patch fails. This will happen the second time we run CMake as the sources will be already patched. PATCH_COMMAND "${GIT_EXECUTABLE}" "apply" "-q" "${PROJECT_SOURCE_DIR}/cmake/qhull_fix_testing.patch" "||" "${CMAKE_COMMAND}" "-E" "true" EXCLUDE_FROM_ALL ) # MuJoCo includes a file from libqhull_r which is not exported by the qhull include directories. # Add it to the target. target_include_directories( qhullstatic_r INTERFACE $ ) target_compile_options(qhullstatic_r PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS}) target_link_options(qhullstatic_r PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS}) set(tinyxml2_BUILD_TESTING OFF) findorfetch( USE_SYSTEM_PACKAGE OFF PACKAGE_NAME tinyxml2 LIBRARY_NAME tinyxml2 GIT_REPO https://github.com/leethomason/tinyxml2.git GIT_TAG ${MUJOCO_DEP_VERSION_tinyxml2} TARGETS tinyxml2 EXCLUDE_FROM_ALL ) target_compile_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS}) target_link_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS}) findorfetch( USE_SYSTEM_PACKAGE OFF PACKAGE_NAME tinyobjloader LIBRARY_NAME tinyobjloader GIT_REPO https://github.com/tinyobjloader/tinyobjloader.git GIT_TAG ${MUJOCO_DEP_VERSION_tinyobjloader} TARGETS tinyobjloader EXCLUDE_FROM_ALL ) set(ENABLE_DOUBLE_PRECISION ON) set(CCD_HIDE_ALL_SYMBOLS ON) findorfetch( USE_SYSTEM_PACKAGE OFF PACKAGE_NAME ccd LIBRARY_NAME ccd GIT_REPO https://github.com/danfis/libccd.git GIT_TAG ${MUJOCO_DEP_VERSION_ccd} TARGETS ccd EXCLUDE_FROM_ALL ) target_compile_options(ccd PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS}) target_link_options(ccd PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS}) # libCCD has an unconditional `#define _CRT_SECURE_NO_WARNINGS` on Windows. # TODO(stunya): Remove this after https://github.com/danfis/libccd/pull/77 is merged. if(WIN32) if(MSVC) # C4005 is the MSVC equivalent of -Wmacro-redefined. target_compile_options(ccd PRIVATE /wd4005) else() target_compile_options(ccd PRIVATE -Wno-macro-redefined) endif() endif() if(MUJOCO_BUILD_TESTS) set(ABSL_PROPAGATE_CXX_STD ON) # This specific version of Abseil does not have the following variable. We need to work with BUILD_TESTING set(BUILD_TESTING_OLD ${BUILD_TESTING}) set(BUILD_TESTING OFF CACHE INTERNAL "Build tests." ) set(ABSL_BUILD_TESTING OFF) findorfetch( USE_SYSTEM_PACKAGE OFF PACKAGE_NAME absl LIBRARY_NAME abseil-cpp GIT_REPO https://github.com/abseil/abseil-cpp.git GIT_TAG ${MUJOCO_DEP_VERSION_abseil} TARGETS absl::core_headers EXCLUDE_FROM_ALL ) set(BUILD_TESTING ${BUILD_TESTING_OLD} CACHE BOOL "Build tests." FORCE ) # Avoid linking errors on Windows by dynamically linking to the C runtime. set(gtest_force_shared_crt ON CACHE BOOL "" FORCE ) findorfetch( USE_SYSTEM_PACKAGE OFF PACKAGE_NAME GTest LIBRARY_NAME googletest GIT_REPO https://github.com/google/googletest.git GIT_TAG ${MUJOCO_DEP_VERSION_gtest} TARGETS gtest gmock gtest_main EXCLUDE_FROM_ALL ) set(BENCHMARK_EXTRA_FETCH_ARGS "") if(WIN32 AND NOT MSVC) set(BENCHMARK_EXTRA_FETCH_ARGS PATCH_COMMAND "sed" "-i" "-e" "s/-std=c++11/-std=c++14/g" "-e" "s/HAVE_CXX_FLAG_STD_CXX11/HAVE_CXX_FLAG_STD_CXX14/g" "${CMAKE_BINARY_DIR}/_deps/benchmark-src/CMakeLists.txt" ) endif() set(BENCHMARK_ENABLE_TESTING OFF) findorfetch( USE_SYSTEM_PACKAGE OFF PACKAGE_NAME benchmark LIBRARY_NAME benchmark GIT_REPO https://github.com/google/benchmark.git GIT_TAG ${MUJOCO_DEP_VERSION_benchmark} TARGETS benchmark::benchmark benchmark::benchmark_main ${BENCHMARK_EXTRA_FETCH_ARGS} EXCLUDE_FROM_ALL ) endif() if(MUJOCO_TEST_PYTHON_UTIL) add_compile_definitions(EIGEN_MPL2_ONLY) if(NOT TARGET eigen) # Support new IN_LIST if() operator. set(CMAKE_POLICY_DEFAULT_CMP0057 NEW) FetchContent_Declare( Eigen3 GIT_REPOSITORY https://gitlab.com/libeigen/eigen.git GIT_TAG ${MUJOCO_DEP_VERSION_Eigen3} ) FetchContent_GetProperties(Eigen3) if(NOT Eigen3_POPULATED) FetchContent_Populate(Eigen3) # Mark the library as IMPORTED as a workaround for https://gitlab.kitware.com/cmake/cmake/-/issues/15415 add_library(Eigen3::Eigen INTERFACE IMPORTED) set_target_properties( Eigen3::Eigen PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${eigen3_SOURCE_DIR}" ) endif() endif() endif() # Reset BUILD_SHARED_LIBS to its previous value set(BUILD_SHARED_LIBS ${BUILD_SHARED_LIBS_OLD} CACHE BOOL "Build MuJoCo as a shared library" FORCE ) mujoco-2.2.2/cmake/MujocoHarden.cmake000066400000000000000000000023321430610576200174550ustar00rootroot00000000000000# Copyright 2022 DeepMind Technologies Limited # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # https://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. option(MUJOCO_HARDEN "Enable build hardening for MuJoCo." OFF) if(MUJOCO_HARDEN AND NOT CMAKE_CXX_COMPILER_ID MATCHES ".*Clang.*" ) message(FATAL_ERROR "MUJOCO_HARDEN is only supported when building with Clang") endif() if(MUJOCO_HARDEN) set(MUJOCO_HARDEN_COMPILE_OPTIONS -D_FORTIFY_SOURCE=2 -fstack-protector) if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin") set(MUJOCO_HARDEN_LINK_OPTIONS -Wl,-bind_at_load) elseif(${CMAKE_SYSTEM_NAME} MATCHES "Linux") set(MUJOCO_HARDEN_LINK_OPTIONS -Wl,-z,relro -Wl,-z,now) endif() else() set(MUJOCO_HARDEN_COMPILE_OPTIONS "") set(MUJOCO_HARDEN_LINK_OPTIONS "") endif() mujoco-2.2.2/cmake/MujocoLinkOptions.cmake000066400000000000000000000043761430610576200205370ustar00rootroot00000000000000# Copyright 2021 DeepMind Technologies Limited # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # https://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. include(CheckCSourceCompiles) # Gets the appropriate linker options for building MuJoCo, based on features available on the # linker. function(get_mujoco_extra_link_options OUTPUT_VAR) if(MSVC) set(EXTRA_LINK_OPTIONS /OPT:REF /OPT:ICF=5) else() set(EXTRA_LINK_OPTIONS) if(WIN32) set(CMAKE_REQUIRED_FLAGS "-fuse-ld=lld-link") check_c_source_compiles("int main() {}" SUPPORTS_LLD) if(SUPPORTS_LLD) set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -fuse-ld=lld-link -Wl,/OPT:REF -Wl,/OPT:ICF ) endif() else() set(CMAKE_REQUIRED_FLAGS "-fuse-ld=lld") check_c_source_compiles("int main() {}" SUPPORTS_LLD) if(SUPPORTS_LLD) set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -fuse-ld=lld) else() set(CMAKE_REQUIRED_FLAGS "-fuse-ld=gold") check_c_source_compiles("int main() {}" SUPPORTS_GOLD) if(SUPPORTS_GOLD) set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -fuse-ld=gold) endif() endif() set(CMAKE_REQUIRED_FLAGS ${EXTRA_LINK_OPTIONS} "-Wl,--gc-sections") check_c_source_compiles("int main() {}" SUPPORTS_GC_SECTIONS) if(SUPPORTS_GC_SECTIONS) set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -Wl,--gc-sections) else() set(CMAKE_REQUIRED_FLAGS ${EXTRA_LINK_OPTIONS} "-Wl,-dead_strip") check_c_source_compiles("int main() {}" SUPPORTS_DEAD_STRIP) if(SUPPORTS_DEAD_STRIP) set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -Wl,-dead_strip) endif() endif() endif() endif() set("${OUTPUT_VAR}" ${EXTRA_LINK_OPTIONS} PARENT_SCOPE ) endfunction() mujoco-2.2.2/cmake/MujocoMacOS.cmake000066400000000000000000000030401430610576200172130ustar00rootroot00000000000000# Copyright 2022 DeepMind Technologies Limited # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # https://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. if(APPLE) # 10.12 is the oldest version of macOS that supports C++17, launched 2016. set(MUJOCO_MACOSX_VERSION_MIN 10.12) # We are setting the -mmacosx-version-min compiler flag directly rather than using the # CMAKE_OSX_DEPLOYMENT_TARGET variable since we do not want to affect choice of SDK, # and also we only want to apply the version restriction locally. set(MUJOCO_MACOS_COMPILE_OPTIONS -mmacosx-version-min=${MUJOCO_MACOSX_VERSION_MIN} -Werror=partial-availability -Werror=unguarded-availability ) set(MUJOCO_MACOS_LINK_OPTIONS -mmacosx-version-min=${MUJOCO_MACOSX_VERSION_MIN} -Wl,-no_weak_imports ) else() set(MUJOCO_MACOS_COMPILE_OPTIONS "") set(MUJOCO_MACOS_LINK_OPTIONS "") endif() function(enforce_mujoco_macosx_min_version) if(APPLE) add_compile_options(${MUJOCO_MACOS_COMPILE_OPTIONS}) add_link_options(${MUJOCO_MACOS_LINK_OPTIONS}) endif() endfunction() mujoco-2.2.2/cmake/MujocoOptions.cmake000066400000000000000000000070051430610576200177110ustar00rootroot00000000000000# Copyright 2021 DeepMind Technologies Limited # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # https://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. # Global compilation settings set(CMAKE_C_STANDARD 11) set(CMAKE_C_STANDARD_REQUIRED ON) set(CMAKE_CXX_STANDARD 17) set(CMAKE_CXX_STANDARD_REQUIRED ON) set(CMAKE_CXX_EXTENSIONS OFF) set(CMAKE_C_EXTENSIONS OFF) set(CMAKE_EXPORT_COMPILE_COMMANDS ON) # For LLVM tooling if(NOT CMAKE_CONFIGURATION_TYPES) if(NOT CMAKE_BUILD_TYPE) message(STATUS "Setting build type to 'Release' as none was specified.") set(CMAKE_BUILD_TYPE "Release" CACHE STRING "Choose the type of build, recommanded options are: Debug or Release" FORCE ) endif() set(BUILD_TYPES "Debug" "Release" "MinSizeRel" "RelWithDebInfo" ) set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS ${BUILD_TYPES}) endif() include(GNUInstallDirs) # Change the default output directory in the build structure. This is not stricly needed, but helps # running in Windows, such that all built executables have DLLs in the same folder as the .exe # files. set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR}") set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}") set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}") set(OpenGL_GL_PREFERENCE GLVND) set(CMAKE_POSITION_INDEPENDENT_CODE ON) set(CMAKE_C_VISIBILITY_PRESET hidden) set(CMAKE_CXX_VISIBILITY_PRESET hidden) set(CMAKE_VISIBILITY_INLINES_HIDDEN ON) if(MSVC) add_compile_options(/Gy /Gw /Oi) elseif(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-fdata-sections -ffunction-sections) endif() # We default to shared library. set(BUILD_SHARED_LIBS ON CACHE BOOL "Build Mujoco as shared library." ) option(MUJOCO_ENABLE_AVX "Build binaries that require AVX instructions, if possible." ON) option(MUJOCO_ENABLE_AVX_INTRINSICS "Make use of hand-written AVX intrinsics, if possible." ON) option(MUJOCO_ENABLE_RPATH "Enable RPath support when installing Mujoco." ON) mark_as_advanced(MUJOCO_ENABLE_RPATH) if(MUJOCO_ENABLE_AVX) include(CheckAvxSupport) get_avx_compile_options(AVX_COMPILE_OPTIONS) else() set(AVX_COMPILE_OPTIONS) endif() option(MUJOCO_BUILD_MACOS_FRAMEWORKS "Build libraries as macOS Frameworks" OFF) # Get some extra link options. include(MujocoLinkOptions) get_mujoco_extra_link_options(EXTRA_LINK_OPTIONS) if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND NOT MSVC)) set(EXTRA_COMPILE_OPTIONS -Wall -Werror) if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") set(EXTRA_COMPILE_OPTIONS -Wno-int-in-bool-context -Wno-maybe-uninitialized -Wno-sign-compare -Wno-stringop-overflow -Wno-stringop-truncation ) endif() endif() if(WIN32) add_compile_definitions(_CRT_SECURE_NO_WARNINGS) endif() include(MujocoHarden) set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} ${MUJOCO_HARDEN_COMPILE_OPTIONS}) set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} ${MUJOCO_HARDEN_LINK_OPTIONS}) mujoco-2.2.2/cmake/ShellTests.cmake000066400000000000000000000041641430610576200171760ustar00rootroot00000000000000# Copyright 2021 DeepMind Technologies Limited # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # https://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. function(add_mujoco_shell_test TEST_NAME TARGET_BINARY) find_program(BASH_PROGRAM bash) if(BASH_PROGRAM) # Set up the test directory set(TEST_TMPDIR "${CMAKE_CURRENT_BINARY_DIR}/${TEST_NAME}") add_test(NAME ${TEST_NAME}_setup COMMAND ${BASH_PROGRAM} "${PROJECT_SOURCE_DIR}/cmake/setup_test_dir.sh" ${TEST_TMPDIR} ) set_tests_properties(${TEST_NAME}_setup PROPERTIES FIXTURES_SETUP ${TEST_NAME}_fixture) add_test(NAME ${TEST_NAME}_cleanup COMMAND ${BASH_PROGRAM} "${PROJECT_SOURCE_DIR}/cmake/cleanup_test_dir.sh" ${TEST_TMPDIR} ) set_tests_properties(${TEST_NAME}_cleanup PROPERTIES FIXTURES_CLEANUP ${TEST_NAME}_fixture) add_test( NAME ${TEST_NAME} COMMAND ${BASH_PROGRAM} "${CMAKE_CURRENT_SOURCE_DIR}/${TEST_NAME}.sh" WORKING_DIRECTORY $ ) set_tests_properties(${TEST_NAME} PROPERTIES FIXTURES_REQUIRED ${TEST_NAME}_fixture) set_property( TEST "${TEST_NAME}" PROPERTY ENVIRONMENT "CMAKE_SOURCE_DIR=${CMAKE_SOURCE_DIR}" "TARGET_BINARY=$" "TEST_TMPDIR=${TEST_TMPDIR}" ) if(WIN32) # Define the directory containing the mujoco DLL library so that it can be added to the PATH. # We modify the PATH in the script as it is more reliable. set_property( TEST "${TEST_NAME}" APPEND PROPERTY ENVIRONMENT "MUJOCO_DLL_DIR=$" ) endif() endif() endfunction() mujoco-2.2.2/cmake/TargetAddRpath.cmake000066400000000000000000000130541430610576200177400ustar00rootroot00000000000000# Copyright 2022 DeepMind Technologies Limited # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # https://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. # #[=======================================================================[.rst: TargetAddRpath ---------------------- Add support to RPATH for the specified targets .. command:: target_add_rpath Add support to RPATH for the specified targets:: .. code-block:: cmake target_add_rpath(target1 target2 ... INSTALL_DIRECTORY install_directory LIB_DIRS dir1 dir2 ... [INSTALL_NAME_DIR [dir]] [DEPENDS condition [condition]] [USE_LINK_PATH]) This function setups the RPATH paths for the specified targets. The use of RPATH allows to avoid using the (dangerous) environment variable ``LD_LIBRARY_PATH`` (or equivalent on macOS) when installing without absolute paths. By using RPATH the installation can be relocated as the linker will look for (some of) the dependencies at run time. The function has the following parameters: Options: - ``USE_LINK_PATH``: if defined, the function will set ``INSTALL_RPATH_USE_LINK_PATH`` on all the specified targets, i.e. CMake will automatically adds to the RPATH the path to all the dependent libraries defined outside this project. Arguments: - ``INSTALL_DIRECTORY`` The directory where the specified targets will be installed. - ``LIB_DIRS`` list of directories to be added a search path to the RPATH. Note that the relative path between ``INSTALL_DIRECTORY`` and these directories will be added to the RPATH. - ``INSTALL_NAME_DIR`` directory where the libraries will be installed. This variable will be used only if ``CMAKE_SKIP_RPATH`` or ``CMAKE_SKIP_INSTALL_RPATH`` is set to ``TRUE`` as it will set the ``INSTALL_NAME_DIR`` on all targets. - ``DEPENDS`` list of conditions that should be ``TRUE`` to enable RPATH, for example ``FOO; NOT BAR``. Note: see https://gitlab.kitware.com/cmake/community/-/wikis/doc/cmake/RPATH-handling and https://gitlab.kitware.com/cmake/cmake/issues/16589 for further details. #]=======================================================================] if(COMMAND target_add_rpath) return() endif() function(_get_system_dirs _output_var) set(${_output_var} ${CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES} PARENT_SCOPE ) endfunction() function( _get_rpath_relative_path _output_var _bin_dir _lib_dir ) file( RELATIVE_PATH _rel_path ${_bin_dir} ${_lib_dir} ) if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin") set(${_output_var} "@loader_path/${_rel_path}" PARENT_SCOPE ) else() set(${_output_var} "\$ORIGIN/${_rel_path}" PARENT_SCOPE ) endif() endfunction() function(target_add_rpath) set(_options USE_LINK_PATH) set(_oneValueArgs INSTALL_NAME_DIR INSTALL_DIRECTORY) set(_multiValueArgs TARGETS LIB_DIRS DEPENDS) cmake_parse_arguments( _ARGS "${_options}" "${_oneValueArgs}" "${_multiValueArgs}" "${ARGN}" ) # Handle Apple-specific installation directory. Note that this disable proper RPATH. if(CMAKE_SKIP_RPATH OR CMAKE_SKIP_INSTALL_RPATH) if(DEFINED _ARGS_INSTALL_NAME_DIR) set_target_properties(${_ARGS_TARGETS} PROPERTIES INSTALL_NAME_DIR ${_ARGS_INSTALL_NAME_DIR}) endif() endif() # If RPATH is disabled, do nothing and return. if(CMAKE_SKIP_RPATH OR (CMAKE_SKIP_INSTALL_RPATH AND CMAKE_SKIP_BUILD_RPATH)) return() endif() # Check if the user requested RPATH for the specified targets. set(_enable_rpath ON) if(DEFINED _ARGS_DEPENDS) foreach(_cond ${_ARGS_DEPENDS}) string( REGEX REPLACE " +" ";" _cond "${_cond}" ) if(NOT (${_cond})) set(_enable_rpath OFF) endif() endforeach() endif() if(NOT _enable_rpath) return() endif() # Now enable RPATH for the specified targets. _get_system_dirs(_system_dirs) # We do this per target to preserve the original rpath setting. foreach(_target ${_ARGS_TARGETS}) get_target_property(_install_rpath ${_target} INSTALL_RPATH) foreach(_lib_dir ${_ARGS_LIB_DIRS}) # Check if the specified library path is a system directory. These are always searched so we do # not need to include them in the RPATH. list( FIND _system_dirs "${_lib_dir}" is_system_dir ) if("${is_system_dir}" STREQUAL "-1") _get_rpath_relative_path(_bin_lib_rel_path ${_ARGS_INSTALL_DIRECTORY} ${_lib_dir}) list(APPEND _install_rpath ${_bin_lib_rel_path}) endif() endforeach() if(NOT "${_install_rpath}" STREQUAL "" ) list(REMOVE_DUPLICATES _install_rpath) endif() set_target_properties( ${_target} PROPERTIES INSTALL_RPATH ${_install_rpath} INSTALL_RPATH_USE_LINK_PATH ${_ARGS_USE_LINK_PATH} BUILD_WITH_INSTALL_RPATH TRUE MACOSX_RPATH ON # This is ON by default. ) endforeach() endfunction() mujoco-2.2.2/cmake/cleanup_test_dir.sh000077500000000000000000000013031430610576200177550ustar00rootroot00000000000000#!/bin/bash # Copyright 2021 DeepMind Technologies Limited # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. if [ -z "$1" ]; then echo "Expecting an output directory. Got none." 1>&2 exit 1 fi rm -rf "$1" mujoco-2.2.2/cmake/mujocoConfig.cmake.in000066400000000000000000000014741430610576200201340ustar00rootroot00000000000000# Copyright 2021 DeepMind Technologies Limited # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # https://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. @PACKAGE_INIT@ include(CMakeFindDependencyMacro) find_dependency(OpenGL) if(NOT TARGET mujoco AND NOT @PROJECT_NAME@_BINARY_DIR) include("${CMAKE_CURRENT_LIST_DIR}/mujocoTargets.cmake") endif() check_required_components(mujoco) mujoco-2.2.2/cmake/qhull_fix_testing.patch000066400000000000000000000065551430610576200206610ustar00rootroot00000000000000From 2bf2d1f5151d0d36cd17dea03129bd9a825384c5 Mon Sep 17 00:00:00 2001 From: Francesco Romano Date: Fri, 6 May 2022 11:30:44 +0100 Subject: [PATCH] Add option to disable testing --- CMakeLists.txt | 55 ++++++++++++++++++++++++++------------------------ 1 file changed, 29 insertions(+), 26 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index cd95ad0..6ff1c98 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -113,6 +113,7 @@ cmake_dependent_option(LINK_APPS_SHARED "Use shared library for linking applicat "BUILD_SHARED_LIBS;BUILD_STATIC_LIBS" ${BUILD_SHARED_LIBS} ) +option(QHULL_ENABLE_TESTING "Build and run tests" ON) if(INCLUDE_INSTALL_DIR) else() @@ -147,6 +148,7 @@ message(STATUS "Build Type (CMAKE_BUILD_TYPE): ${CMAKE_BUILD_TYPE}") message(STATUS "Build static libraries: ${BUILD_STATIC_LIBS}") message(STATUS "Build shared library: ${BUILD_SHARED_LIBS}") message(STATUS "Use shared library for linking apps: ${LINK_APPS_SHARED}") +message(STATUS "Build tests: ${QHULL_ENABLE_TESTING}") message(STATUS "To override these options, add -D{OPTION_NAME}=... to the cmake command") message(STATUS " Build the debug targets -DCMAKE_BUILD_TYPE=Debug") message(STATUS) @@ -636,32 +638,33 @@ set_target_properties(user_egp PROPERTIES # --------------------------------------- # Define test # --------------------------------------- - -enable_testing() -add_test(NAME testqset - COMMAND ./testqset 10000) -add_test(NAME testqset_r - COMMAND ./testqset_r 10000) -add_test(NAME smoketest - COMMAND sh -c "./rbox D4 | ./qhull Tv") -add_test(NAME rbox-10-qhull - COMMAND sh -c "./rbox 10 | ./qhull Tv") -add_test(NAME rbox-10-qconvex - COMMAND sh -c "./rbox 10 | ./qconvex Tv") -add_test(NAME rbox-10-qdelaunay - COMMAND sh -c "./rbox 10 | ./qdelaunay Tv") -add_test(NAME rbox-10-qhalf - COMMAND sh -c "./rbox 10 | ./qconvex FQ FV n Tv | ./qhalf Tv") -add_test(NAME rbox-10-qvoronoi - COMMAND sh -c "./rbox 10 | ./qvoronoi Tv") -add_test(NAME user_eg - COMMAND sh -c "./user_eg") -add_test(NAME user_eg2 - COMMAND sh -c "./user_eg2") - -if(${BUILD_STATIC_LIBS}) - add_test(NAME user_eg3 - COMMAND sh -c "./user_eg3 rbox '10 D2' '2 D2' qhull 's p' facets") +if (QHULL_ENABLE_TESTING) + enable_testing() + add_test(NAME testqset + COMMAND ./testqset 10000) + add_test(NAME testqset_r + COMMAND ./testqset_r 10000) + add_test(NAME smoketest + COMMAND sh -c "./rbox D4 | ./qhull Tv") + add_test(NAME rbox-10-qhull + COMMAND sh -c "./rbox 10 | ./qhull Tv") + add_test(NAME rbox-10-qconvex + COMMAND sh -c "./rbox 10 | ./qconvex Tv") + add_test(NAME rbox-10-qdelaunay + COMMAND sh -c "./rbox 10 | ./qdelaunay Tv") + add_test(NAME rbox-10-qhalf + COMMAND sh -c "./rbox 10 | ./qconvex FQ FV n Tv | ./qhalf Tv") + add_test(NAME rbox-10-qvoronoi + COMMAND sh -c "./rbox 10 | ./qvoronoi Tv") + add_test(NAME user_eg + COMMAND sh -c "./user_eg") + add_test(NAME user_eg2 + COMMAND sh -c "./user_eg2") + + if(${BUILD_STATIC_LIBS}) + add_test(NAME user_eg3 + COMMAND sh -c "./user_eg3 rbox '10 D2' '2 D2' qhull 's p' facets") + endif() endif() # --------------------------------------- -- 2.36.0.512.ge40c2bad7a-goog mujoco-2.2.2/cmake/setup_test_dir.sh000077500000000000000000000013231430610576200174700ustar00rootroot00000000000000#!/bin/bash # Copyright 2021 DeepMind Technologies Limited # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. if [ -z "$1" ]; then echo "Expecting an output directory. Got none." 1>&2 exit 1 fi mkdir -p "$1" rm -rf "$1/*" mujoco-2.2.2/dist/000077500000000000000000000000001430610576200137605ustar00rootroot00000000000000mujoco-2.2.2/dist/Info.plist.framework.in000066400000000000000000000020271430610576200203320ustar00rootroot00000000000000 CFBundleName MuJoCo CFBundleIdentifier org.mujoco.framework CFBundleVersion ${PROJECT_VERSION} CFBundleGetInfoString ${PROJECT_VERSION} CFBundleExecutable libmujoco.dylib CFBundlePackageType FMWK NSHumanReadableCopyright Copyright 2021 DeepMind Technologies Limited. MDItemKeywords MuJoCo, physics engine, physics simulator, physics, MJ CFBundleInfoDictionaryVersion 6.0 CFBundleDevelopmentRegion en CFBundleSupportedPlatforms MacOSX mujoco-2.2.2/dist/Info.plist.simulate.in000066400000000000000000000025651430610576200201670ustar00rootroot00000000000000 CFBundleName ${MACOSX_BUNDLE_BUNDLE_NAME} CFBundleIdentifier ${MACOSX_BUNDLE_GUI_IDENTIFIER} CFBundleVersion ${MACOSX_BUNDLE_BUNDLE_VERSION} CFBundleGetInfoString ${MACOSX_BUNDLE_INFO_STRING} CFBundleLongVersionString ${MACOSX_BUNDLE_LONG_VERSION_STRING} CFBundleShortVersionString ${MACOSX_BUNDLE_SHORT_VERSION_STRING} CFBundleExecutable simulate CFBundleIconFile ${MACOSX_BUNDLE_ICON_FILE} CFBundlePackageType APPL NSHumanReadableCopyright ${MACOSX_BUNDLE_COPYRIGHT} MDItemKeywords MuJoCo, physics engine, physics simulator, physics, simulate, MJ, mujoco simulate, mj simulate CFBundleInfoDictionaryVersion 6.0 CFBundleDevelopmentRegion en CFBundleSupportedPlatforms MacOSX 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$Ȩ^Jw!k/>O%â[›IŸØO¯ñ~ÐÎøFý0O)¨,Ê° ø&ØIˆZ?­>Üý°¬½³«ýD|Ÿlß.¿ãÙêwd΢´ú·éψÕ ÂÔ«'üÊ…`B¬cu²Köãï«?7ŸÚ&0|Pu÷‰ý}¨Æû{2»(‰ÿMâWH²T˜Zxuå«Å/óŠ±÷Ù¥#©trÖ>TwEâ[›>V¿q‹4Æy”_ì9¯áêÛt¨£¶|À8Ik™– Z}ÊYûÐ9HY_®Î ­>3ùo£Ìèµoõ¥Fo @Só¯žDYUx (žE*œ‚dÈ@/é(Lzo—Ú[”}¹û>Y âSû!ÿ.Ê·hw|0øóÕû·Îßf<5ü¾¼Ô#l],IEND®B`‚mujoco-2.2.2/doc/000077500000000000000000000000001430610576200135625ustar00rootroot00000000000000mujoco-2.2.2/doc/APIreference.rst000066400000000000000000006464201430610576200166200ustar00rootroot00000000000000============= API Reference ============= Introduction ------------ This chapter is the reference manual for MuJoCo. It is generated from the header files included with MuJoCo, but also contains additional text not available in the headers. .. _Type: Type definitions ---------------- .. _tyPrimitive: Primitive types ^^^^^^^^^^^^^^^ MuJoCo defines a large number of primitive types described here. Except for :ref:`mjtNum` and :ref:`mjtByte`, all other primitive types are C enums used to define various integer constants. Note that the rest of the API does not use these enum types directly. Instead it uses ints, and only the documentation/comments state that certain ints correspond to certain enum types. This is because we want the API to be compiler-independent, and the C standard does not dictate how many bytes must be used to represent an enum type. Nevertheless we recommend using these types when calling the API functions (and letting the compiler do the enum-to-int type cast). .. _mjtNum: mjtNum ~~~~~~ .. code-block:: C #ifdef mjUSEDOUBLE typedef double mjtNum; #else typedef float mjtNum; #endif | Defined in `mjtnum.h `_ | This is the floating-point type used throughout the simulator. If the symbol ``mjUSEDOUBLE`` is defined in ``mjmodel.h``, this type is defined as ``double``, otherwise it is defined as ``float``. Currently only the double-precision version of MuJoCo is distributed, although the entire code base works with single-precision as well. We may release the single-precision version in the future for efficiency reasons, but the double-precision version will always be available. Thus it is safe to write user code assuming double precision. However, our preference is to write code that works with either single or double precision. To this end we provide math utility functions that are always defined with the correct floating-point type. | Note that changing ``mjUSEDOUBLE`` in ``mjtnum.h`` will not change how the library was compiled, and instead will result in numerous link errors. In general, the header files distributed with precompiled MuJoCo should never be changed by the user. .. _mjtByte: mjtByte ~~~~~~~ .. code-block:: C typedef unsigned char mjtByte; | Defined in `mjmodel.h `_ | Byte type used to represent boolean variables. .. _mjtDisableBit: mjtDisableBit ~~~~~~~~~~~~~ .. code-block:: C typedef enum _mjtDisableBit { mjDSBL_CONSTRAINT = 1<<0, // entire constraint solver mjDSBL_EQUALITY = 1<<1, // equality constraints mjDSBL_FRICTIONLOSS = 1<<2, // joint and tendon frictionloss constraints mjDSBL_LIMIT = 1<<3, // joint and tendon limit constraints mjDSBL_CONTACT = 1<<4, // contact constraints mjDSBL_PASSIVE = 1<<5, // passive forces mjDSBL_GRAVITY = 1<<6, // gravitational forces mjDSBL_CLAMPCTRL = 1<<7, // clamp control to specified range mjDSBL_WARMSTART = 1<<8, // warmstart constraint solver mjDSBL_FILTERPARENT = 1<<9, // remove collisions with parent body mjDSBL_ACTUATION = 1<<10, // apply actuation forces mjDSBL_REFSAFE = 1<<11, // integrator safety: make ref[0]>=2*timestep mjDSBL_SENSOR = 1<<12, // sensors mjNDISABLE = 13 // number of disable flags } mjtDisableBit; | Defined in `mjmodel.h `_ | Constants which are powers of 2. They are used as bitmasks for the field ``disableflags`` of :ref:`mjOption`. At runtime this field is ``m->opt.disableflags``. The number of these constants is given by ``mjNDISABLE`` which is also the length of the global string array :ref:`mjDISABLESTRING` with text descriptions of these flags. .. _mjtEnableBit: mjtEnableBit ~~~~~~~~~~~~ .. code-block:: C typedef enum _mjtEnableBit { mjENBL_OVERRIDE = 1<<0, // override contact parameters mjENBL_ENERGY = 1<<1, // energy computation mjENBL_FWDINV = 1<<2, // compare forward and inverse dynamics mjENBL_SENSORNOISE = 1<<3, // add noise to sensor data // experimental features: mjENBL_MULTICCD = 1<<30, // multi-point convex collision detection mjNENABLE = 5 // number of enable flags } mjtEnableBit; | Defined in `mjmodel.h `_ | Constants which are powers of 2. They are used as bitmasks for the field ``enableflags`` of :ref:`mjOption`. At runtime this field is ``m->opt.enableflags``. The number of these constants is given by ``mjNENABLE`` which is also the length of the global string array :ref:`mjENABLESTRING` with text descriptions of these flags. .. _mjtJoint: mjtJoint ~~~~~~~~ .. code-block:: C typedef enum _mjtJoint { mjJNT_FREE = 0, // global position and orientation (quat) (7) mjJNT_BALL, // orientation (quat) relative to parent (4) mjJNT_SLIDE, // sliding distance along body-fixed axis (1) mjJNT_HINGE // rotation angle (rad) around body-fixed axis (1) } mjtJoint; | Defined in `mjmodel.h `_ | Primitive joint types. These values are used in ``m->jnt_type``. The numbers in the comments indicate how many positional coordinates each joint type has. Note that ball joints and rotational components of free joints are represented as unit quaternions - which have 4 positional coordinates but 3 degrees of freedom each. .. _mjtGeom: mjtGeom ~~~~~~~ .. code-block:: C typedef enum _mjtGeom { // regular geom types mjGEOM_PLANE = 0, // plane mjGEOM_HFIELD, // height field mjGEOM_SPHERE, // sphere mjGEOM_CAPSULE, // capsule mjGEOM_ELLIPSOID, // ellipsoid mjGEOM_CYLINDER, // cylinder mjGEOM_BOX, // box mjGEOM_MESH, // mesh mjNGEOMTYPES, // number of regular geom types // rendering-only geom types: not used in mjModel, not counted in mjNGEOMTYPES mjGEOM_ARROW = 100, // arrow mjGEOM_ARROW1, // arrow without wedges mjGEOM_ARROW2, // arrow in both directions mjGEOM_LINE, // line mjGEOM_SKIN, // skin mjGEOM_LABEL, // text label mjGEOM_NONE = 1001 // missing geom type } mjtGeom; | Defined in `mjmodel.h `_ | Geometric types supported by MuJoCo. The first group are "official" geom types that can be used in the model. The second group are geom types that cannot be used in the model but are used by the visualizer to add decorative elements. These values are used in ``m->geom_type`` and ``m->site_type``. .. _mjtCamLight: mjtCamLight ~~~~~~~~~~~ .. code-block:: C typedef enum _mjtCamLight { mjCAMLIGHT_FIXED = 0, // pos and rot fixed in body mjCAMLIGHT_TRACK, // pos tracks body, rot fixed in global mjCAMLIGHT_TRACKCOM, // pos tracks subtree com, rot fixed in body mjCAMLIGHT_TARGETBODY, // pos fixed in body, rot tracks target body mjCAMLIGHT_TARGETBODYCOM // pos fixed in body, rot tracks target subtree com } mjtCamLight; | Defined in `mjmodel.h `_ | Dynamic modes for cameras and lights, specifying how the camera/light position and orientation are computed. These values are used in ``m->cam_mode`` and ``m->light_mode``. .. _mjtTexture: mjtTexture ~~~~~~~~~~ .. code-block:: C typedef enum _mjtTexture { mjTEXTURE_2D = 0, // 2d texture, suitable for planes and hfields mjTEXTURE_CUBE, // cube texture, suitable for all other geom types mjTEXTURE_SKYBOX // cube texture used as skybox } mjtTexture; | Defined in `mjmodel.h `_ | Texture types, specifying how the texture will be mapped. These values are used in ``m->tex_type``. .. _mjtIntegrator: mjtIntegrator ~~~~~~~~~~~~~ .. code-block:: C typedef enum _mjtIntegrator // integrator mode { mjINT_EULER = 0, // semi-implicit Euler mjINT_RK4 // 4th-order Runge Kutta mjINT_IMPLICIT // implicit in velocity } mjtIntegrator; | Defined in `mjmodel.h `_ | Numerical integrator types. These values are used in ``m->opt.integrator``. .. _mjtCollision: mjtCollision ~~~~~~~~~~~~ .. code-block:: C typedef enum _mjtCollision // collision mode for selecting geom pairs { mjCOL_ALL = 0, // test precomputed and dynamic pairs mjCOL_PAIR, // test predefined pairs only mjCOL_DYNAMIC // test dynamic pairs only } mjtCollision; | Defined in `mjmodel.h `_ | Collision modes specifying how candidate geom pairs are generated for near-phase collision checking. These values are used in ``m->opt.collision``. .. _mjtCone: mjtCone ~~~~~~~ .. code-block:: C typedef enum _mjtCone // type of friction cone { mjCONE_PYRAMIDAL = 0, // pyramidal mjCONE_ELLIPTIC // elliptic } mjtCone; | Defined in `mjmodel.h `_ | Available friction cone types. These values are used in ``m->opt.cone``. .. _mjtJacobian: mjtJacobian ~~~~~~~~~~~ .. code-block:: C typedef enum _mjtJacobian // type of constraint Jacobian { mjJAC_DENSE = 0, // dense mjJAC_SPARSE, // sparse mjJAC_AUTO // dense if nv<=60, sparse otherwise } mjtJacobian; | Defined in `mjmodel.h `_ | Available Jacobian types. These values are used in ``m->opt.jacobian``. .. _mjtSolver: mjtSolver ~~~~~~~~~ .. code-block:: C typedef enum _mjtSolver // constraint solver algorithm { mjSOL_PGS = 0, // PGS (dual) mjSOL_CG, // CG (primal) mjSOL_NEWTON // Newton (primal) } mjtSolver; | Defined in `mjmodel.h `_ | Available constraint solver algorithms. These values are used in ``m->opt.solver``. .. _mjtEq: mjtEq ~~~~~ .. code-block:: C typedef enum _mjtEq { mjEQ_CONNECT = 0, // connect two bodies at a point (ball joint) mjEQ_WELD, // fix relative position and orientation of two bodies mjEQ_JOINT, // couple the values of two scalar joints with cubic mjEQ_TENDON, // couple the lengths of two tendons with cubic mjEQ_DISTANCE // unsupported, will cause an error if used } mjtEq; | Defined in `mjmodel.h `_ | Equality constraint types. These values are used in ``m->eq_type``. .. _mjtWrap: mjtWrap ~~~~~~~ .. code-block:: C typedef enum _mjtWrap { mjWRAP_NONE = 0, // null object mjWRAP_JOINT, // constant moment arm mjWRAP_PULLEY, // pulley used to split tendon mjWRAP_SITE, // pass through site mjWRAP_SPHERE, // wrap around sphere mjWRAP_CYLINDER // wrap around (infinite) cylinder } mjtWrap; | Defined in `mjmodel.h `_ | Tendon wrapping object types. These values are used in ``m->wrap_type``. .. _mjtTrn: mjtTrn ~~~~~~ .. code-block:: C typedef enum _mjtTrn { mjTRN_JOINT = 0, // force on joint mjTRN_JOINTINPARENT, // force on joint, expressed in parent frame mjTRN_SLIDERCRANK, // force via slider-crank linkage mjTRN_TENDON, // force on tendon mjTRN_SITE, // force on site mjTRN_UNDEFINED = 1000 // undefined transmission type } mjtTrn; | Defined in `mjmodel.h `_ | Actuator transmission types. These values are used in ``m->actuator_trntype``. .. _mjtDyn: mjtDyn ~~~~~~ .. code-block:: C typedef enum _mjtDyn { mjDYN_NONE = 0, // no internal dynamics; ctrl specifies force mjDYN_INTEGRATOR, // integrator: da/dt = u mjDYN_FILTER, // linear filter: da/dt = (u-a) / tau mjDYN_MUSCLE, // piece-wise linear filter with two time constants mjDYN_USER // user-defined dynamics type } mjtDyn; | Defined in `mjmodel.h `_ | Actuator dynamics types. These values are used in ``m->actuator_dyntype``. .. _mjtGain: mjtGain ~~~~~~~ .. code-block:: C typedef enum _mjtGain { mjGAIN_FIXED = 0, // fixed gain mjGAIN_AFFINE, // const + kp*length + kv*velocity mjGAIN_MUSCLE, // muscle FLV curve computed by mju_muscleGain() mjGAIN_USER // user-defined gain type } mjtGain; | Defined in `mjmodel.h `_ | Actuator gain types. These values are used in ``m->actuator_gaintype``. .. _mjtBias: mjtBias ~~~~~~~ .. code-block:: C typedef enum _mjtBias { mjBIAS_NONE = 0, // no bias mjBIAS_AFFINE, // const + kp*length + kv*velocity mjBIAS_MUSCLE, // muscle passive force computed by mju_muscleBias() mjBIAS_USER // user-defined bias type } mjtBias; | Defined in `mjmodel.h `_ | Actuator bias types. These values are used in ``m->actuator_biastype``. .. _mjtObj: mjtObj ~~~~~~ .. code-block:: C typedef enum _mjtObj { mjOBJ_UNKNOWN = 0, // unknown object type mjOBJ_BODY, // body mjOBJ_XBODY, // body, used to access regular frame instead of i-frame mjOBJ_JOINT, // joint mjOBJ_DOF, // dof mjOBJ_GEOM, // geom mjOBJ_SITE, // site mjOBJ_CAMERA, // camera mjOBJ_LIGHT, // light mjOBJ_MESH, // mesh mjOBJ_SKIN, // skin mjOBJ_HFIELD, // heightfield mjOBJ_TEXTURE, // texture mjOBJ_MATERIAL, // material for rendering mjOBJ_PAIR, // geom pair to include mjOBJ_EXCLUDE, // body pair to exclude mjOBJ_EQUALITY, // equality constraint mjOBJ_TENDON, // tendon mjOBJ_ACTUATOR, // actuator mjOBJ_SENSOR, // sensor mjOBJ_NUMERIC, // numeric mjOBJ_TEXT, // text mjOBJ_TUPLE, // tuple mjOBJ_KEY // keyframe } mjtObj; | Defined in `mjmodel.h `_ | MuJoCo object types. These values are used in the support functions :ref:`mj_name2id` and :ref:`mj_id2name` to convert between object names and integer ids. .. _mjtConstraint: mjtConstraint ~~~~~~~~~~~~~ .. code-block:: C typedef enum _mjtConstraint { mjCNSTR_EQUALITY = 0, // equality constraint mjCNSTR_FRICTION_DOF, // dof friction mjCNSTR_FRICTION_TENDON, // tendon friction mjCNSTR_LIMIT_JOINT, // joint limit mjCNSTR_LIMIT_TENDON, // tendon limit mjCNSTR_CONTACT_FRICTIONLESS, // frictionless contact mjCNSTR_CONTACT_PYRAMIDAL, // frictional contact, pyramidal friction cone mjCNSTR_CONTACT_ELLIPTIC // frictional contact, elliptic friction cone } mjtConstraint; | Defined in `mjmodel.h `_ | Constraint types. These values are not used in mjModel, but are used in the mjData field ``d->efc_type`` when the list of active constraints is constructed at each simulation time step. .. _mjtConstraintState: mjtConstraintState ~~~~~~~~~~~~~~~~~~ .. code-block:: C typedef enum _mjtConstraintState { mjCNSTRSTATE_SATISFIED = 0, // constraint satisfied, zero cost (limit, contact) mjCNSTRSTATE_QUADRATIC, // quadratic cost (equality, friction, limit, contact) mjCNSTRSTATE_LINEARNEG, // linear cost, negative side (friction) mjCNSTRSTATE_LINEARPOS, // linear cost, positive side (friction) mjCNSTRSTATE_CONE // squared distance to cone cost (elliptic contact) } mjtConstraintState; | Defined in `mjmodel.h `_ | These values are used by the solver internally to keep track of the constraint states. .. _mjtSensor: mjtSensor ~~~~~~~~~ .. code-block:: C typedef enum _mjtSensor // type of sensor { // common robotic sensors, attached to a site mjSENS_TOUCH = 0, // scalar contact normal forces summed over sensor zone mjSENS_ACCELEROMETER, // 3D linear acceleration, in local frame mjSENS_VELOCIMETER, // 3D linear velocity, in local frame mjSENS_GYRO, // 3D angular velocity, in local frame mjSENS_FORCE, // 3D force between site's body and its parent body mjSENS_TORQUE, // 3D torque between site's body and its parent body mjSENS_MAGNETOMETER, // 3D magnetometer mjSENS_RANGEFINDER, // scalar distance to nearest geom or site along z-axis // sensors related to scalar joints, tendons, actuators mjSENS_JOINTPOS, // scalar joint position (hinge and slide only) mjSENS_JOINTVEL, // scalar joint velocity (hinge and slide only) mjSENS_TENDONPOS, // scalar tendon position mjSENS_TENDONVEL, // scalar tendon velocity mjSENS_ACTUATORPOS, // scalar actuator position mjSENS_ACTUATORVEL, // scalar actuator velocity mjSENS_ACTUATORFRC, // scalar actuator force // sensors related to ball joints mjSENS_BALLQUAT, // 4D ball joint quaternion mjSENS_BALLANGVEL, // 3D ball joint angular velocity // joint and tendon limit sensors, in constraint space mjSENS_JOINTLIMITPOS, // joint limit distance-margin mjSENS_JOINTLIMITVEL, // joint limit velocity mjSENS_JOINTLIMITFRC, // joint limit force mjSENS_TENDONLIMITPOS, // tendon limit distance-margin mjSENS_TENDONLIMITVEL, // tendon limit velocity mjSENS_TENDONLIMITFRC, // tendon limit force // sensors attached to an object with spatial frame: (x)body, geom, site, camera mjSENS_FRAMEPOS, // 3D position mjSENS_FRAMEQUAT, // 4D unit quaternion orientation mjSENS_FRAMEXAXIS, // 3D unit vector: x-axis of object's frame mjSENS_FRAMEYAXIS, // 3D unit vector: y-axis of object's frame mjSENS_FRAMEZAXIS, // 3D unit vector: z-axis of object's frame mjSENS_FRAMELINVEL, // 3D linear velocity mjSENS_FRAMEANGVEL, // 3D angular velocity mjSENS_FRAMELINACC, // 3D linear acceleration mjSENS_FRAMEANGACC, // 3D angular acceleration // sensors related to kinematic subtrees; attached to a body (which is the subtree root) mjSENS_SUBTREECOM, // 3D center of mass of subtree mjSENS_SUBTREELINVEL, // 3D linear velocity of subtree mjSENS_SUBTREEANGMOM, // 3D angular momentum of subtree // user-defined sensor mjSENS_USER // sensor data provided by mjcb_sensor callback } mjtSensor; | Defined in `mjmodel.h `_ | Sensor types. These values are used in ``m->sensor_type``. .. _mjtStage: mjtStage ~~~~~~~~ .. code-block:: C typedef enum _mjtStage { mjSTAGE_NONE = 0, // no computations mjSTAGE_POS, // position-dependent computations mjSTAGE_VEL, // velocity-dependent computations mjSTAGE_ACC // acceleration/force-dependent computations } mjtStage; | Defined in `mjmodel.h `_ | These are the compute stages for the skipstage parameters of :ref:`mj_forwardSkip` and :ref:`mj_inverseSkip`. .. _mjtDataType: mjtDataType ~~~~~~~~~~~ .. code-block:: C typedef enum _mjtDataType // data type for sensors { mjDATATYPE_REAL = 0, // real values, no constraints mjDATATYPE_POSITIVE, // positive values; 0 or negative: inactive mjDATATYPE_AXIS, // 3D unit vector mjDATATYPE_QUATERNION // unit quaternion } mjtDataType; | Defined in `mjmodel.h `_ | These are the possible sensor data types, used in ``mjData.sensor_datatype``. .. _mjtWarning: mjtWarning ~~~~~~~~~~ .. code-block:: C typedef enum _mjtWarning // warning types { mjWARN_INERTIA = 0, // (near) singular inertia matrix mjWARN_CONTACTFULL, // too many contacts in contact list mjWARN_CNSTRFULL, // too many constraints mjWARN_VGEOMFULL, // too many visual geoms mjWARN_BADQPOS, // bad number in qpos mjWARN_BADQVEL, // bad number in qvel mjWARN_BADQACC, // bad number in qacc mjWARN_BADCTRL, // bad number in ctrl mjNWARNING // number of warnings } mjtWarning; | Defined in `mjdata.h `_ | Warning types. The number of warning types is given by ``mjNWARNING`` which is also the length of the array ``mjData.warning``. .. _mjtTimer: mjtTimer ~~~~~~~~ .. code-block:: C typedef enum _mjtTimer { // main api mjTIMER_STEP = 0, // step mjTIMER_FORWARD, // forward mjTIMER_INVERSE, // inverse // breakdown of step/forward mjTIMER_POSITION, // fwdPosition mjTIMER_VELOCITY, // fwdVelocity mjTIMER_ACTUATION, // fwdActuation mjTIMER_ACCELERATION, // fwdAcceleration mjTIMER_CONSTRAINT, // fwdConstraint // breakdown of fwdPosition mjTIMER_POS_KINEMATICS, // kinematics, com, tendon, transmission mjTIMER_POS_INERTIA, // inertia computations mjTIMER_POS_COLLISION, // collision detection mjTIMER_POS_MAKE, // make constraints mjTIMER_POS_PROJECT, // project constraints mjNTIMER // number of timers } mjtTimer; | Defined in `mjdata.h `_ | Timer types. The number of timer types is given by ``mjNTIMER`` which is also the length of the array ``mjData.timer``, as well as the length of the string array :ref:`mjTIMERSTRING` with timer names. .. _mjtCatBit: mjtCatBit ~~~~~~~~~ .. code-block:: C typedef enum _mjtCatBit { mjCAT_STATIC = 1, // model elements in body 0 mjCAT_DYNAMIC = 2, // model elements in all other bodies mjCAT_DECOR = 4, // decorative geoms mjCAT_ALL = 7 // select all categories } mjtCatBit; | Defined in `mjvisualize.h `_ | These are the available categories of geoms in the abstract visualizer. The bitmask can be used in the function :ref:`mjr_render` to specify which categories should be rendered. .. _mjtMouse: mjtMouse ~~~~~~~~ .. code-block:: C typedef enum _mjtMouse { mjMOUSE_NONE = 0, // no action mjMOUSE_ROTATE_V, // rotate, vertical plane mjMOUSE_ROTATE_H, // rotate, horizontal plane mjMOUSE_MOVE_V, // move, vertical plane mjMOUSE_MOVE_H, // move, horizontal plane mjMOUSE_ZOOM, // zoom mjMOUSE_SELECT // selection } mjtMouse; | Defined in `mjvisualize.h `_ | These are the mouse actions that the abstract visualizer recognizes. It is up to the user to intercept mouse events and translate them into these actions, as illustrated in ``simulate.cc``. .. _mjtPertBit: mjtPertBit ~~~~~~~~~~ .. code-block:: C typedef enum _mjtPertBit { mjPERT_TRANSLATE = 1, // translation mjPERT_ROTATE = 2 // rotation } mjtPertBit; | Defined in `mjvisualize.h `_ | These bitmasks enable the translational and rotational components of the mouse perturbation. For the regular mouse, only one can be enabled at a time. For the 3D mouse (SpaceNavigator) both can be enabled simultaneously. They are used in ``mjvPerturb.active``. .. _mjtCamera: mjtCamera ~~~~~~~~~ .. code-block:: C typedef enum _mjtCamera { mjCAMERA_FREE = 0, // free camera mjCAMERA_TRACKING, // tracking camera; uses trackbodyid mjCAMERA_FIXED, // fixed camera; uses fixedcamid mjCAMERA_USER // user is responsible for setting OpenGL camera } mjtCamera; | Defined in `mjvisualize.h `_ | These are the possible camera types, used in ``mjvCamera.type``. .. _mjtLabel: mjtLabel ~~~~~~~~ .. code-block:: C typedef enum _mjtLabel { mjLABEL_NONE = 0, // nothing mjLABEL_BODY, // body labels mjLABEL_JOINT, // joint labels mjLABEL_GEOM, // geom labels mjLABEL_SITE, // site labels mjLABEL_CAMERA, // camera labels mjLABEL_LIGHT, // light labels mjLABEL_TENDON, // tendon labels mjLABEL_ACTUATOR, // actuator labels mjLABEL_CONSTRAINT, // constraint labels mjLABEL_SKIN, // skin labels mjLABEL_SELECTION, // selected object mjLABEL_SELPNT, // coordinates of selection point mjLABEL_CONTACTFORCE, // magnitude of contact force mjNLABEL // number of label types } mjtLabel; | Defined in `mjvisualize.h `_ | These are the abstract visualization elements that can have text labels. Used in ``mjvOption.label``. .. _mjtFrame: mjtFrame ~~~~~~~~ .. code-block:: C typedef enum _mjtFrame { mjFRAME_NONE = 0, // no frames mjFRAME_BODY, // body frames mjFRAME_GEOM, // geom frames mjFRAME_SITE, // site frames mjFRAME_CAMERA, // camera frames mjFRAME_LIGHT, // light frames mjFRAME_WORLD, // world frame mjNFRAME // number of visualization frames } mjtFrame; | Defined in `mjvisualize.h `_ | These are the MuJoCo objects whose spatial frames can be rendered. Used in ``mjvOption.frame``. .. _mjtVisFlag: mjtVisFlag ~~~~~~~~~~ .. code-block:: C typedef enum _mjtVisFlag { mjVIS_CONVEXHULL = 0, // mesh convex hull mjVIS_TEXTURE, // textures mjVIS_JOINT, // joints mjVIS_ACTUATOR, // actuators mjVIS_CAMERA, // cameras mjVIS_LIGHT, // lights mjVIS_TENDON, // tendons mjVIS_RANGEFINDER, // rangefinder sensors mjVIS_CONSTRAINT, // point constraints mjVIS_INERTIA, // equivalent inertia boxes mjVIS_SCLINERTIA, // scale equivalent inertia boxes with mass mjVIS_PERTFORCE, // perturbation force mjVIS_PERTOBJ, // perturbation object mjVIS_CONTACTPOINT, // contact points mjVIS_CONTACTFORCE, // contact force mjVIS_CONTACTSPLIT, // split contact force into normal and tanget mjVIS_TRANSPARENT, // make dynamic geoms more transparent mjVIS_AUTOCONNECT, // auto connect joints and body coms mjVIS_COM, // center of mass mjVIS_SELECT, // selection point mjVIS_STATIC, // static bodies mjVIS_SKIN, // skin mjNVISFLAG // number of visualization flags } mjtVisFlag; | Defined in `mjvisualize.h `_ | These are indices in the array ``mjvOption.flags``, whose elements enable/disable the visualization of the corresponding model or decoration element. .. _mjtRndFlag: mjtRndFlag ~~~~~~~~~~ .. code-block:: C typedef enum _mjtRndFlag { mjRND_SHADOW = 0, // shadows mjRND_WIREFRAME, // wireframe mjRND_REFLECTION, // reflections mjRND_ADDITIVE, // additive transparency mjRND_SKYBOX, // skybox mjRND_FOG, // fog mjRND_HAZE, // haze mjRND_SEGMENT, // segmentation with random color mjRND_IDCOLOR, // segmentation with segid+1 color mjRND_CULL_FACE, // cull backward faces mjNRNDFLAG // number of rendering flags } mjtRndFlag; | Defined in `mjvisualize.h `_ | These are indices in the array ``mjvScene.flags``, whose elements enable/disable OpenGL rendering effects. .. _mjtStereo: mjtStereo ~~~~~~~~~ .. code-block:: C typedef enum _mjtStereo { mjSTEREO_NONE = 0, // no stereo; use left eye only mjSTEREO_QUADBUFFERED, // quad buffered; revert to side-by-side if no hardware support mjSTEREO_SIDEBYSIDE // side-by-side } mjtStereo; | Defined in `mjvisualize.h `_ | These are the possible stereo rendering types. They are used in ``mjvScene.stereo``. .. _mjtGridPos: mjtGridPos ~~~~~~~~~~ .. code-block:: C typedef enum _mjtGridPos { mjGRID_TOPLEFT = 0, // top left mjGRID_TOPRIGHT, // top right mjGRID_BOTTOMLEFT, // bottom left mjGRID_BOTTOMRIGHT // bottom right } mjtGridPos; | Defined in `mjrender.h `_ | These are the possible grid positions for text overlays. They are used as an argument to the function :ref:`mjr_overlay`. .. _mjtFramebuffer: mjtFramebuffer ~~~~~~~~~~~~~~ .. code-block:: C typedef enum _mjtFramebuffer { mjFB_WINDOW = 0, // default/window buffer mjFB_OFFSCREEN // offscreen buffer } mjtFramebuffer; | Defined in `mjrender.h `_ | These are the possible framebuffers. They are used as an argument to the function :ref:`mjr_setBuffer`. .. _mjtFontScale: mjtFontScale ~~~~~~~~~~~~ .. code-block:: C typedef enum _mjtFontScale { mjFONTSCALE_50 = 50, // 50% scale, suitable for low-res rendering mjFONTSCALE_100 = 100, // normal scale, suitable in the absence of DPI scaling mjFONTSCALE_150 = 150, // 150% scale mjFONTSCALE_200 = 200, // 200% scale mjFONTSCALE_250 = 250, // 250% scale mjFONTSCALE_300 = 300 // 300% scale } mjtFontScale; | Defined in `mjrender.h `_ | These are the possible font sizes. The fonts are predefined bitmaps stored in the dynamic library at three different sizes. .. _mjtFont: mjtFont ~~~~~~~ .. code-block:: C typedef enum _mjtFont { mjFONT_NORMAL = 0, // normal font mjFONT_SHADOW, // normal font with shadow (for higher contrast) mjFONT_BIG // big font (for user alerts) } mjtFont; | Defined in `mjrender.h `_ | These are the possible font types. .. _mjtButton: mjtButton ~~~~~~~~~ .. code-block:: C typedef enum _mjtButton // mouse button { mjBUTTON_NONE = 0, // no button mjBUTTON_LEFT, // left button mjBUTTON_RIGHT, // right button mjBUTTON_MIDDLE // middle button } mjtButton; | Defined in `mjui.h `_ | Mouse button IDs used in the UI framework. .. _mjtEvent: mjtEvent ~~~~~~~~ .. code-block:: C typedef enum _mjtEvent // mouse and keyboard event type { mjEVENT_NONE = 0, // no event mjEVENT_MOVE, // mouse move mjEVENT_PRESS, // mouse button press mjEVENT_RELEASE, // mouse button release mjEVENT_SCROLL, // scroll mjEVENT_KEY, // key press mjEVENT_RESIZE // resize } mjtEvent; | Defined in `mjui.h `_ | Event types used in the UI framework. .. _mjtItem: mjtItem ~~~~~~~ .. code-block:: C typedef enum _mjtItem // UI item type { mjITEM_END = -2, // end of definition list (not an item) mjITEM_SECTION = -1, // section (not an item) mjITEM_SEPARATOR = 0, // separator mjITEM_STATIC, // static text mjITEM_BUTTON, // button // the rest have data pointer mjITEM_CHECKINT, // check box, int value mjITEM_CHECKBYTE, // check box, mjtByte value mjITEM_RADIO, // radio group mjITEM_SELECT, // selection box mjITEM_SLIDERINT, // slider, int value mjITEM_SLIDERNUM, // slider, mjtNum value mjITEM_EDITINT, // editable array, int values mjITEM_EDITNUM, // editable array, mjtNum values mjITEM_EDITTXT, // editable text mjNITEM // number of item types } mjtItem; | Defined in `mjui.h `_ | Item types used in the UI framework. .. _tyFunction: Function types ^^^^^^^^^^^^^^ MuJoCo callbacks have corresponding function types. They are defined in `mjdata.h `_ and in `mjui.h `_. The actual callback functions are documented later. .. _mjfGeneric: mjfGeneric ~~~~~~~~~~ .. code-block:: C typedef void (*mjfGeneric)(const mjModel* m, mjData* d); This is the function type of the callbacks :ref:`mjcb_passive` and :ref:`mjcb_control`. .. _mjfConFilt: mjfConFilt ~~~~~~~~~~ .. code-block:: C typedef int (*mjfConFilt)(const mjModel* m, mjData* d, int geom1, int geom2); This is the function type of the callback :ref:`mjcb_contactfilter`. The return value is 1: discard, 0: proceed with collision check. .. _mjfSensor: mjfSensor ~~~~~~~~~ .. code-block:: C typedef void (*mjfSensor)(const mjModel* m, mjData* d, int stage); This is the function type of the callback :ref:`mjcb_sensor`. .. _mjfTime: mjfTime ~~~~~~~ .. code-block:: C typedef mjtNum (*mjfTime)(void); This is the function type of the callback :ref:`mjcb_time`. .. _mjfAct: mjfAct ~~~~~~ .. code-block:: C typedef mjtNum (*mjfAct)(const mjModel* m, const mjData* d, int id); This is the function type of the callbacks :ref:`mjcb_act_dyn`, :ref:`mjcb_act_gain` and :ref:`mjcb_act_bias`. .. _mjfCollision: mjfCollision ~~~~~~~~~~~~ .. code-block:: C typedef int (*mjfCollision)(const mjModel* m, const mjData* d, mjContact* con, int g1, int g2, mjtNum margin); This is the function type of the callbacks in the collision table :ref:`mjCOLLISIONFUNC`. .. _mjfItemEnable: mjfItemEnable ~~~~~~~~~~~~~ .. code-block:: C typedef int (*mjfItemEnable)(int category, void* data); This is the function type of the predicate function used by the UI framework to determine if each item is enabled or disabled. .. _tyStructure: Data structures ^^^^^^^^^^^^^^^ MuJoCo uses several data structures shown below. They are taken directly from the header files which contain comments for each field. .. _mjVFS: mjVFS ~~~~~ .. code-block:: C struct _mjVFS // virtual file system for loading from memory { int nfile; // number of files present char filename[mjMAXVFS][mjMAXVFSNAME]; // file name without path int filesize[mjMAXVFS]; // file size in bytes void* filedata[mjMAXVFS]; // buffer with file data }; typedef struct _mjVFS mjVFS; | Defined in `mjmodel.h `_ | This is the data structure with the virtual file system. It can only be constructed programmatically, and does not have an analog in MJCF. .. _mjOption: mjOption ~~~~~~~~ .. code-block:: C struct _mjOption // physics options { // timing parameters mjtNum timestep; // timestep mjtNum apirate; // update rate for remote API (Hz) // solver parameters mjtNum impratio; // ratio of friction-to-normal contact impedance mjtNum tolerance; // main solver tolerance mjtNum noslip_tolerance; // noslip solver tolerance mjtNum mpr_tolerance; // MPR solver tolerance // physical constants mjtNum gravity[3]; // gravitational acceleration mjtNum wind[3]; // wind (for lift, drag and viscosity) mjtNum magnetic[3]; // global magnetic flux mjtNum density; // density of medium mjtNum viscosity; // viscosity of medium // override contact solver parameters (if enabled) mjtNum o_margin; // margin mjtNum o_solref[mjNREF]; // solref mjtNum o_solimp[mjNIMP]; // solimp // discrete settings int integrator; // integration mode (mjtIntegrator) int collision; // collision mode (mjtCollision) int cone; // type of friction cone (mjtCone) int jacobian; // type of Jacobian (mjtJacobian) int solver; // solver algorithm (mjtSolver) int iterations; // maximum number of main solver iterations int noslip_iterations; // maximum number of noslip solver iterations int mpr_iterations; // maximum number of MPR solver iterations int disableflags; // bit flags for disabling standard features int enableflags; // bit flags for enabling optional features }; typedef struct _mjOption mjOption; | Defined in `mjmodel.h `_ | This is the data structure with simulation options. It corresponds to the MJCF element :ref:`option