diff options
| author | Eric Langlois | 2021-12-02 04:12:40 -0500 |
|---|---|---|
| committer | Eric Langlois | 2021-12-02 04:12:40 -0500 |
| commit | 6939f9b7ea571a489f1b0c8067aa8f6e1bb7f266 (patch) | |
| tree | f1504af4fe143312bd7acc07e8ccc78258b3aad8 | |
| parent | fca11c44634a6d7a87a27f4e42e34a162ee74ac2 (diff) | |
| download | aur-6939f9b7ea571a489f1b0c8067aa8f6e1bb7f266.tar.gz | |
upgpkg: python-mujoco-py 2.1.2.14-1
upstream release
| -rw-r--r-- | .SRCINFO | 17 | ||||
| -rw-r--r-- | PKGBUILD | 39 | ||||
| -rw-r--r-- | mujoco-py-gen_wrappers.py.patch | 22 | ||||
| -rw-r--r-- | mujoco-py.patch | 415 |
4 files changed, 34 insertions, 459 deletions
@@ -1,7 +1,7 @@ pkgbase = python-mujoco-py pkgdesc = Python interface to the MuJoCo physics engine - pkgver = 2.0.2.13 - pkgrel = 2 + pkgver = 2.1.2.14 + pkgrel = 1 url = https://github.com/openai/mujoco-py arch = x86_64 license = MIT @@ -9,23 +9,20 @@ pkgbase = python-mujoco-py makedepends = patchelf makedepends = python-setuptools depends = cython + depends = glew + depends = libgl depends = mesa depends = mujoco + depends = python depends = python-cffi depends = python-fasteners depends = python-glfw depends = python-imageio depends = python-numpy options = !strip - source = https://files.pythonhosted.org/packages/source/m/mujoco-py/mujoco-py-2.0.2.13.tar.gz - source = mujoco-py-2.0.2.13-LICENSE.md::https://raw.githubusercontent.com/openai/mujoco-py/4830435a169c1f3e3b5f9b58a7c3d9c39bdf4acb/LICENSE.md - source = mujoco-py-2.0.2.13-gen_wrappers.py::https://raw.githubusercontent.com/openai/mujoco-py/4830435a169c1f3e3b5f9b58a7c3d9c39bdf4acb/scripts/gen_wrappers.py - source = mujoco-py-gen_wrappers.py.patch + source = https://files.pythonhosted.org/packages/source/m/mujoco-py/mujoco-py-2.1.2.14.tar.gz source = mujoco-py.patch - sha256sums = d6ae66276b565af9063597fda70683a89c7356290f5ac3961b794ee90ec50eea - sha256sums = fb896a8cbad505b0fe1f324e7d4f02032e56885c6544b7644180258d6077a71a - sha256sums = c13dd644594f3746bb0e5db2cdc8be2d7acb8b7e91fa5299bd1825f2bebd8d41 - sha256sums = SKIP + sha256sums = eb5b14485acf80a3cf8c15f4b080c6a28a9f79e68869aa696d16cbd51ea7706f sha256sums = SKIP pkgname = python-mujoco-py @@ -1,16 +1,19 @@ # Maintainer: Eric Langlois <eric@langlois.xyz> pkgname=python-mujoco-py _name=${pkgname#python-} -pkgver=2.0.2.13 -pkgrel=2 +pkgver=2.1.2.14 +pkgrel=1 pkgdesc="Python interface to the MuJoCo physics engine" arch=('x86_64') url="https://github.com/openai/mujoco-py" license=('MIT' 'custom') depends=( 'cython' + 'glew' + 'libgl' 'mesa' 'mujoco' + 'python' 'python-cffi' 'python-fasteners' 'python-glfw' @@ -21,42 +24,15 @@ makedepends=('patchelf' 'python-setuptools') optdepends=() # Stripping breaks the generated cymj_*.so file options=(!strip) -# There is no license file included in the pip package -# Get it from the mujoco-py github repo instead. -# Also, there is no release marked for the recent pip package version, -# so use the lastest `master` commit (at the time of writing). -# -# The gen_wrappers.py script is similarly not included in the pip package but -# helps with updating to mujoco 210 _release_commit="4830435a169c1f3e3b5f9b58a7c3d9c39bdf4acb" source=("https://files.pythonhosted.org/packages/source/${_name::1}/$_name/$_name-$pkgver.tar.gz" - "$_name-$pkgver-LICENSE.md::https://raw.githubusercontent.com/openai/$_name/$_release_commit/LICENSE.md" - "$_name-$pkgver-gen_wrappers.py::https://raw.githubusercontent.com/openai/$_name/$_release_commit/scripts/gen_wrappers.py" - "$_name-gen_wrappers.py.patch" "$_name.patch") -sha256sums=('d6ae66276b565af9063597fda70683a89c7356290f5ac3961b794ee90ec50eea' - 'fb896a8cbad505b0fe1f324e7d4f02032e56885c6544b7644180258d6077a71a' - 'c13dd644594f3746bb0e5db2cdc8be2d7acb8b7e91fa5299bd1825f2bebd8d41' - 'SKIP' +sha256sums=('eb5b14485acf80a3cf8c15f4b080c6a28a9f79e68869aa696d16cbd51ea7706f' 'SKIP') prepare() { cd "$_name-$pkgver" patch -p1 -i "$srcdir/$_name.patch" - - # Patch gen_wrappers to use installed mujoco location and 2.1.0 - patch $(readlink "$srcdir/$_name-$pkgver-gen_wrappers.py") \ - -i "$srcdir/$_name-gen_wrappers.py.patch" \ - -o "$srcdir/$_name-$pkgver-gen_wrappers-patched.py" - - # Re-generate the files in mujoco_py/generated/ for 2.1.0 - python "$srcdir/$_name-$pkgver-gen_wrappers-patched.py" - - # Generated .pxi uses `nmocap` instead of `p.nmocap` - # There's probably a way to fix it in gen_wrappers but to avoid having to - # understand how gen_wrappers works I just fix it here. - sed -i"" -e 's/\*nmocap)/*p.nmocap)/' \ - "mujoco_py/generated/wrappers.pxi" } build() { @@ -68,6 +44,5 @@ package() { cd "$_name-$pkgver" python setup.py install --root="$pkgdir" --optimize=1 --skip-build - install -Dm644 "$srcdir/$_name-$pkgver-LICENSE.md" \ - "$pkgdir/usr/share/licenses/$pkgname/LICENSE.md" + install -Dm644 -t "$pkgdir/usr/share/licenses/$pkgname" "LICENSE.md" } diff --git a/mujoco-py-gen_wrappers.py.patch b/mujoco-py-gen_wrappers.py.patch deleted file mode 100644 index a67c37d4e8c4..000000000000 --- a/mujoco-py-gen_wrappers.py.patch +++ /dev/null @@ -1,22 +0,0 @@ ---- mujoco-py-2.0.2.13-gen_wrappers.py.orig 2021-10-31 20:06:55.462019060 -0400 -+++ mujoco-py-2.0.2.13-gen_wrappers.py.new 2021-10-31 20:14:05.987046079 -0400 -@@ -527,7 +527,7 @@ - - - def main(): -- HEADER_DIR = os.path.expanduser(os.path.join('~', '.mujoco', 'mujoco200', 'include')) -+ HEADER_DIR = "/opt/mujoco/include" - HEADER_FILES = [ - 'mjmodel.h', - 'mjdata.h', -@@ -939,6 +939,10 @@ - PyMem_Free(self.ptr) - '''.format(name=name) - extra_set = '' -+ elif name in [ -+ 'mjuiItemSingle', 'mjuiItemMulti', 'mjuiItemSlider', 'mjuiItemEdit' -+ ]: -+ continue - elif name[:2] == 'mj': - extra = ''' - def __cinit__(self): diff --git a/mujoco-py.patch b/mujoco-py.patch index 99c67a9eaa62..9bb7d505d63f 100644 --- a/mujoco-py.patch +++ b/mujoco-py.patch @@ -1,16 +1,7 @@ -diff '--color=auto' --unified --recursive --text mujoco-py-2.0.2.13.orig/mujoco_py/builder.py mujoco-py-2.0.2.13.new/mujoco_py/builder.py ---- mujoco-py-2.0.2.13.orig/mujoco_py/builder.py 2021-10-27 15:35:32.352940239 -0400 -+++ mujoco-py-2.0.2.13.new/mujoco_py/builder.py 2021-10-27 15:42:48.400639577 -0400 -@@ -31,7 +31,7 @@ - docker_path = '/usr/local/nvidia/lib64' - if exists(docker_path): - return docker_path -- paths = glob.glob('/usr/lib/nvidia-[0-9][0-9][0-9]') -+ paths = glob.glob('/usr/lib/nvidia') - paths = sorted(paths) - if len(paths) == 0: - return None -@@ -66,9 +66,7 @@ +diff '--color=auto' --unified --recursive --text mujoco-py-2.1.2.14.orig/mujoco_py/builder.py mujoco-py-2.1.2.14.new/mujoco_py/builder.py +--- mujoco-py-2.1.2.14.orig/mujoco_py/builder.py 2021-12-02 03:51:35.827128615 -0500 ++++ mujoco-py-2.1.2.14.new/mujoco_py/builder.py 2021-12-02 04:07:00.863927035 -0500 +@@ -71,9 +71,7 @@ if sys.platform == 'darwin': Builder = MacExtensionBuilder elif sys.platform == 'linux': @@ -20,7 +11,7 @@ diff '--color=auto' --unified --recursive --text mujoco-py-2.0.2.13.orig/mujoco_ Builder = LinuxGPUExtensionBuilder else: Builder = LinuxCPUExtensionBuilder -@@ -84,6 +82,13 @@ +@@ -89,6 +87,13 @@ builder = Builder(mujoco_path) cext_so_path = builder.get_so_file_path() @@ -34,18 +25,7 @@ diff '--color=auto' --unified --recursive --text mujoco-py-2.0.2.13.orig/mujoco_ lockpath = os.path.join(os.path.dirname(cext_so_path), 'mujocopy-buildlock') with fasteners.InterProcessLock(lockpath): -@@ -172,8 +177,8 @@ - - # Fix the rpath of the generated library -- i lost the Stackoverflow - # reference here -- from_mujoco_path = '@executable_path/libmujoco200.dylib' -- to_mujoco_path = '%s/libmujoco200.dylib' % mj_bin_path -+ from_mujoco_path = '@executable_path/libmujoco210.dylib' -+ to_mujoco_path = '%s/libmujoco210.dylib' % mj_bin_path - subprocess.check_call(['install_name_tool', - '-change', - from_mujoco_path, -@@ -205,11 +210,10 @@ +@@ -210,11 +215,10 @@ sources=[join(self.CYMJ_DIR_PATH, "cymj.pyx")], include_dirs=[ self.CYMJ_DIR_PATH, @@ -53,13 +33,12 @@ diff '--color=auto' --unified --recursive --text mujoco-py-2.0.2.13.orig/mujoco_ + "/usr/include/mujoco", np.get_include(), ], -- libraries=['mujoco200'], + libraries=['mujoco210'], - library_dirs=[join(mujoco_path, 'bin')], -+ libraries=['mujoco210'], extra_compile_args=[ '-fopenmp', # needed for OpenMP '-w', # suppress numpy compilation warnings -@@ -266,14 +270,13 @@ +@@ -271,14 +275,13 @@ self.extension.sources.append( join(self.CYMJ_DIR_PATH, "gl", "osmesashim.c")) @@ -70,14 +49,13 @@ diff '--color=auto' --unified --recursive --text mujoco-py-2.0.2.13.orig/mujoco_ def _build_impl(self): so_file_path = super()._build_impl() # Removes absolute paths to libraries. Allows for dynamic loading. -- fix_shared_library(so_file_path, 'libmujoco200.so', 'libmujoco200.so') + fix_shared_library(so_file_path, 'libmujoco210.so', 'libmujoco210.so') - fix_shared_library(so_file_path, 'libglewosmesa.so', 'libglewosmesa.so') -+ fix_shared_library(so_file_path, 'libmujoco210.so', 'libmujoco210.so') + fix_shared_library(so_file_path, 'libGLEW.so', 'libGLEW.so') return so_file_path -@@ -284,15 +287,14 @@ +@@ -289,15 +292,14 @@ self.extension.sources.append(self.CYMJ_DIR_PATH + "/gl/eglshim.c") self.extension.include_dirs.append(self.CYMJ_DIR_PATH + '/vendor/egl') @@ -89,392 +67,39 @@ diff '--color=auto' --unified --recursive --text mujoco-py-2.0.2.13.orig/mujoco_ so_file_path = super()._build_impl() fix_shared_library(so_file_path, 'libOpenGL.so', 'libOpenGL.so.0') fix_shared_library(so_file_path, 'libEGL.so', 'libEGL.so.1') -- fix_shared_library(so_file_path, 'libmujoco200.so', 'libmujoco200.so') + fix_shared_library(so_file_path, 'libmujoco210.so', 'libmujoco210.so') - fix_shared_library(so_file_path, 'libglewegl.so', 'libglewegl.so') -+ fix_shared_library(so_file_path, 'libmujoco210.so', 'libmujoco210.so') + fix_shared_library(so_file_path, 'libGLEW.so', 'libGLEW.so') return so_file_path -@@ -476,9 +478,8 @@ +@@ -481,8 +483,7 @@ source_string += '\nuintptr_t __fun = (uintptr_t) fun;' # Link against mujoco so we can call mujoco functions from within callback ffibuilder.set_source(name, source_string, - include_dirs=[join(mujoco_path, 'include')], - library_dirs=[join(mujoco_path, 'bin')], -- libraries=['mujoco200']) + include_dirs=["/usr/include/mujoco"], -+ libraries=['mujoco210']) + libraries=['mujoco210']) # Catch compilation exceptions so we can cleanup partial files in that case try: - library_path = ffibuilder.compile(verbose=True) -@@ -497,13 +498,11 @@ - - def find_key(): - ''' Try to find the key file, if missing, print out a big message ''' -- if exists(key_path): -- return -- print(MISSING_KEY_MESSAGE.format(key_path), file=sys.stderr) -+ pass - - - def activate(): -- functions.mj_activate(key_path) -+ pass - - - mujoco_path, key_path = discover_mujoco() -diff '--color=auto' --unified --recursive --text mujoco-py-2.0.2.13.orig/mujoco_py/generated/wrappers.pxi mujoco-py-2.0.2.13.new/mujoco_py/generated/wrappers.pxi ---- mujoco-py-2.0.2.13.orig/mujoco_py/generated/wrappers.pxi 2021-10-27 15:35:32.366273501 -0400 -+++ mujoco-py-2.0.2.13.new/mujoco_py/generated/wrappers.pxi 2021-10-27 15:50:08.868315702 -0400 -@@ -3857,9 +3857,9 @@ - @flg_symmetric.setter - def flg_symmetric(self, int x): self.ptr.flg_symmetric = x - @property -- def legendoff(self): return self.ptr.legendoff -- @legendoff.setter -- def legendoff(self, int x): self.ptr.legendoff = x -+ def legendoffset(self): return self.ptr.legendoffset -+ @legendoffset.setter -+ def legendoffset(self, int x): self.ptr.legendoffset = x - @property - def selection(self): return self.ptr.selection - @selection.setter -diff '--color=auto' --unified --recursive --text mujoco-py-2.0.2.13.orig/mujoco_py/__init__.py mujoco-py-2.0.2.13.new/mujoco_py/__init__.py ---- mujoco-py-2.0.2.13.orig/mujoco_py/__init__.py 2021-10-27 15:35:32.352940239 -0400 -+++ mujoco-py-2.0.2.13.new/mujoco_py/__init__.py 2021-10-31 18:10:40.549488051 -0400 -@@ -28,11 +28,3 @@ - 'load_model_from_mjb', - 'ignore_mujoco_warnings', 'const', "functions", - "__version__", "get_version"] -- -- --# Print out a warning if we can't find the key. --# this is nicer than failing activation, which we can not do in python. --# The mujoco library exits the process forcibly, in a way we can't try/catch. --mujoco_py.builder.find_key() --if not os.environ.get('MUJOCO_PY_SKIP_ACTIVATE'): -- mujoco_py.builder.activate() -diff '--color=auto' --unified --recursive --text mujoco-py-2.0.2.13.orig/mujoco_py/pxd/mjmodel.pxd mujoco-py-2.0.2.13.new/mujoco_py/pxd/mjmodel.pxd ---- mujoco-py-2.0.2.13.orig/mujoco_py/pxd/mjmodel.pxd 2021-10-27 15:35:32.366273501 -0400 -+++ mujoco-py-2.0.2.13.new/mujoco_py/pxd/mjmodel.pxd 2021-10-31 18:35:39.151094912 -0400 -@@ -457,7 +457,7 @@ - int nlight # number of lights - int nmesh # number of meshes - int nmeshvert # number of vertices in all meshes -- int nmeshtexvert; # number of vertices with texcoords in all meshes -+ int nmeshtexvert # number of vertices with texcoords in all meshes - int nmeshface # number of triangular faces in all meshes - int nmeshgraph # number of ints in mesh auxiliary data - int nskin # number of skins -@@ -484,6 +484,7 @@ - int ntuple # number of tuple custom fields - int ntupledata # number of objects in all tuple fields - int nkey # number of keyframes -+ int nmocap # number of mocap bodies - int nuser_body # number of mjtNums in body_user - int nuser_jnt # number of mjtNums in jnt_user - int nuser_geom # number of mjtNums in geom_user -@@ -494,14 +495,13 @@ - int nuser_sensor # number of mjtNums in sensor_user - int nnames # number of chars in all names - -- # sizes set after jModel construction (only affect mjData) -+ # sizes set after mjModel construction (only affect mjData) - int nM # number of non-zeros in sparse inertia matrix - int nemax # number of potential equality-constraint rows - int njmax # number of available rows in constraint Jacobian - int nconmax # number of potential contacts in contact list - int nstack # number of fields in mjData stack - int nuserdata # number of extra fields in mjData -- int nmocap # number of mocap bodies - int nsensordata # number of fields in sensor data vector - - int nbuffer # number of bytes in buffer -@@ -571,7 +571,7 @@ - mjtNum* dof_frictionloss # dof friction loss (nv x 1) - mjtNum* dof_armature # dof armature inertia/mass (nv x 1) - mjtNum* dof_damping # damping coefficient (nv x 1) -- mjtNum* dof_invweight0 # inv. diag. inertia in qpos0 (nv x 1) -+ mjtNum* dof_invweight0 # diag. inverse inertia in qpos0 (nv x 1) - mjtNum* dof_M0 # diag. inertia in qpos0 (nv x 1) - - # geoms -@@ -649,8 +649,8 @@ - int* mesh_faceadr # first face address (nmesh x 1) - int* mesh_facenum # number of faces (nmesh x 1) - int* mesh_graphadr # graph data address; -1: no graph (nmesh x 1) -- float* mesh_vert # vertex data for all meshes (nmeshvert x 3) -- float* mesh_normal # vertex normal data for all meshes (nmeshvert x 3) -+ float* mesh_vert # vertex positions for all meshe (nmeshvert x 3) -+ float* mesh_normal # vertex normals for all meshes (nmeshvert x 3) - float* mesh_texcoord # vertex texcoords for all meshes (nmeshtexvert x 2) - int* mesh_face # triangle face data (nmeshface x 3) - int* mesh_graph # convex graph data (nmeshgraph x 1) -@@ -701,7 +701,7 @@ - float* mat_reflectance # reflectance (0: disable) (nmat x 1) - float* mat_rgba # rgba (nmat x 4) - -- # predefined geom pairs for collision detection; has precedence over exclude -+ # predefined geom pairs for collision detection has precedence over exclude - int* pair_dim # contact dimensionality (npair x 1) - int* pair_geom1 # id of geom1 (npair x 1) - int* pair_geom2 # id of geom2 (npair x 1) -@@ -739,8 +739,8 @@ - mjtNum* tendon_margin # min distance for limit detection (ntendon x 1) - mjtNum* tendon_stiffness # stiffness coefficient (ntendon x 1) - mjtNum* tendon_damping # damping coefficient (ntendon x 1) -- mjtNum* tendon_frictionloss; # loss due to friction (ntendon x 1) -- mjtNum* tendon_lengthspring; # tendon length in qpos_spring (ntendon x 1) -+ mjtNum* tendon_frictionloss # loss due to friction (ntendon x 1) -+ mjtNum* tendon_lengthspring # tendon length in qpos_spring (ntendon x 1) - mjtNum* tendon_length0 # tendon length in qpos0 (ntendon x 1) - mjtNum* tendon_invweight0 # inv. weight in qpos0 (ntendon x 1) - mjtNum* tendon_user # user data (ntendon x nuser_tendon) -@@ -758,18 +758,18 @@ - int* actuator_biastype # bias type (mjtBias) (nu x 1) - int* actuator_trnid # transmission id: joint, tendon, site (nu x 2) - int* actuator_group # group for visibility (nu x 1) -- mjtByte* actuator_ctrllimited; # is control limited (nu x 1) -- mjtByte* actuator_forcelimited;# is force limited (nu x 1) -+ mjtByte* actuator_ctrllimited # is control limited (nu x 1) -+ mjtByte* actuator_forcelimited # is force limited (nu x 1) - mjtNum* actuator_dynprm # dynamics parameters (nu x mjNDYN) - mjtNum* actuator_gainprm # gain parameters (nu x mjNGAIN) - mjtNum* actuator_biasprm # bias parameters (nu x mjNBIAS) - mjtNum* actuator_ctrlrange # range of controls (nu x 2) -- mjtNum* actuator_forcerange; # range of forces (nu x 2) -+ mjtNum* actuator_forcerange # range of forces (nu x 2) - mjtNum* actuator_gear # scale length and transmitted force (nu x 6) -- mjtNum* actuator_cranklength; # crank length for slider-crank (nu x 1) -+ mjtNum* actuator_cranklength # crank length for slider-crank (nu x 1) - mjtNum* actuator_acc0 # acceleration from unit force in qpos0 (nu x 1) - mjtNum* actuator_length0 # actuator length in qpos0 (nu x 1) -- mjtNum* actuator_lengthrange # ... not yet implemented ??? (nu x 2) -+ mjtNum* actuator_lengthrange # feasible actuator length range (nu x 2) - mjtNum* actuator_user # user data (nu x nuser_actuator) - - # sensors -@@ -806,6 +806,8 @@ - mjtNum* key_qpos # key position (nkey x nq) - mjtNum* key_qvel # key velocity (nkey x nv) - mjtNum* key_act # key activation (nkey x na) -+ mjtNum* key_mpos # key mocap position (nkey x 3*nmocap) -+ mjtNum* key_mquat # key mocap quaternion (nkey x 4*nmocap) - - # names - int* name_bodyadr # body name pointers (nbody x 1) -diff '--color=auto' --unified --recursive --text mujoco-py-2.0.2.13.orig/mujoco_py/pxd/mjui.pxd mujoco-py-2.0.2.13.new/mujoco_py/pxd/mjui.pxd ---- mujoco-py-2.0.2.13.orig/mujoco_py/pxd/mjui.pxd 2021-10-27 15:35:32.366273501 -0400 -+++ mujoco-py-2.0.2.13.new/mujoco_py/pxd/mjui.pxd 2021-10-31 18:51:08.782160995 -0400 -@@ -7,6 +7,7 @@ - enum: mjMAXUIMULTI - enum: mjMAXUIEDIT - enum: mjMAXUIRECT -+ enum: mjSEPCLOSED - - - # predicate function: set enable/disable based on item category -@@ -87,6 +88,26 @@ - float cursor[3] # edit cursor - - -+ ctypedef struct mjuiItemSingle: # check and button-related -+ int modifier # 0: none, 1: control, 2: shift; 4: alt -+ int shortcut # shortcut key; 0: undefined -+ -+ -+ ctypedef struct mjuiItemMulti: # static, radio and select-related -+ int nelem # number of elements in group -+ char name[mjMAXUIMULTI][mjMAXUINAME] # element names -+ -+ -+ ctypedef struct mjuiItemSlider: # slider-related -+ double range[2] # slider range -+ double divisions # number of range divisions -+ -+ -+ ctypedef struct mjuiItemEdit: # edit-related -+ int nelem # number of elements in list -+ double range[mjMAXUIEDIT][2] # element range (min>=max: ignore) -+ -+ - ctypedef struct mjuiItem: # UI item - # common properties - int type # type (mjtItem) -diff '--color=auto' --unified --recursive --text mujoco-py-2.0.2.13.orig/mujoco_py/pxd/mjvisualize.pxd mujoco-py-2.0.2.13.new/mujoco_py/pxd/mjvisualize.pxd ---- mujoco-py-2.0.2.13.orig/mujoco_py/pxd/mjvisualize.pxd 2021-10-27 15:35:32.366273501 -0400 -+++ mujoco-py-2.0.2.13.new/mujoco_py/pxd/mjvisualize.pxd 2021-10-31 18:24:38.971350558 -0400 -@@ -117,6 +117,7 @@ - int select # selected body id; non-positive: none - int skinselect; # selected skin id; non-positive: none - int active # perturbation bitmask (mjtPertBit) -+ int active2 # secondary perturbation bitmask (mjtPertBit) - mjtNum refpos[3] # desired position for selected object - mjtNum refquat[4] # desired orientation for selected object - mjtNum localpos[3] # selection point in object coordinates -@@ -220,7 +221,6 @@ - float* skinvert # skin vertex data - float* skinnormal # skin normal data - -- - # OpenGL lights - int nlight # number of lights currently in buffer - mjvLight lights[8] # buffer for lights -@@ -238,10 +238,13 @@ - int stereo # stereoscopic rendering (mjtStereo) - mjtByte flags[mjNRNDFLAG] # rendering flags (indexed by mjtRndFlag) - -+ # framing -+ int framewidth # frame pixel width; 0: disable framing -+ float framergb[3] # frame color - - - ctypedef struct mjvFigure: # abstract 2D figure passed to OpenGL renderer -- # enable/disable flags -+ # enable flags - int flg_legend # show legend - int flg_ticklabel[2] # show grid tick labels (x,y) - int flg_extend # automatically extend axis ranges to fit data -@@ -249,30 +252,36 @@ - int flg_selection # vertical selection line - int flg_symmetric # symmetric y-axis - -- # figure options -- int legendoff # number of lines to offset legend -+ # style settings -+ float linewidth # line width -+ float gridwidth # grid line width - int gridsize[2] # number of grid points in (x,y) -- int selection # selection line x-value -- int highlight[2] # if point is in legend rect, highlight line - float gridrgb[3] # grid line rgb -- float gridwidth # grid line width - float figurergba[4] # figure color and alpha - float panergba[4] # pane color and alpha - float legendrgba[4] # legend color and alpha - float textrgb[3] # text color -+ float linergb[mjMAXLINE][3] # line colors - float range[2][2] # axis ranges; (min>=max) automatic -- char xlabel[100] # x-axis label -- char title[100] # figure title - char xformat[20] # x-tick label format for sprintf - char yformat[20] # y-tick label format for sprintf - char minwidth[20] # string used to determine min y-tick width - -+ # text labels -+ char title[1000] # figure title; subplots separated with 2+ spaces -+ char xlabel[100] # x-axis label -+ char linename[mjMAXLINE][100] # line names for legend -+ -+ # dynamic settings -+ int legendoffset # number of lines to offset legend -+ int subplot # selected subplot (for title rendering) -+ int highlight[2] # if point is in legend rect, highlight line -+ int highlightid # if id>=0 and no point, highlight id -+ float selection # selection line x-value -+ - # line data -- int linepnt[mjMAXLINE] # number of points in line; (0) disable -- float linergb[mjMAXLINE][3] # line color -- float linewidth[mjMAXLINE] # line width -+ int linepnt[mjMAXLINE] # number of points in line; (0) disable - float linedata[mjMAXLINE][2*mjMAXLINEPNT] # line data (x,y) -- char linename[mjMAXLINE][100] # line name for legend - - # output from renderer - int xaxispixel[2] # range of x-axis in pixels -@@ -280,3 +289,4 @@ - float xaxisdata[2] # range of x-axis in data units - float yaxisdata[2] # range of y-axis in data units - -+ -diff '--color=auto' --unified --recursive --text mujoco-py-2.0.2.13.orig/mujoco_py/pxd/mujoco.pxd mujoco-py-2.0.2.13.new/mujoco_py/pxd/mujoco.pxd ---- mujoco-py-2.0.2.13.orig/mujoco_py/pxd/mujoco.pxd 2021-10-27 15:35:32.369606817 -0400 -+++ mujoco-py-2.0.2.13.new/mujoco_py/pxd/mujoco.pxd 2021-10-27 16:14:06.401353520 -0400 -@@ -54,15 +54,6 @@ - # deactivate license, free memory - void mj_deactivate(); - -- # server: generate certificate question -- void mj_certQuestion(mjtNum question[16]); -- -- # client: generate certificate answer given question -- void mj_certAnswer(const mjtNum question[16], mjtNum answer[16]); -- -- # server: check certificate question-answer pair; return 1 if match, 0 if mismatch -- int mj_certCheck(const mjtNum question[16], const mjtNum answer[16]); -- - #---------------------- Virtual file system -------------------------------------------- - - # Initialize VFS to empty (no deallocation). -@@ -637,6 +628,11 @@ - # Draw rectangle. - void mjr_rectangle(mjrRect viewport, float r, float g, float b, float a); - -+ # Draw rectangle with centered text. -+ void mjr_label(mjrRect viewport, int font, const char* txt, -+ float r, float g, float b, float a, float rt, float gt, float bt, -+ const mjrContext* con); -+ - # Draw 2D figure. - void mjr_figure(mjrRect viewport, const mjvFigure* fig, const mjrContext* con); - -@@ -657,6 +653,9 @@ - # Add definitions to UI. - void mjui_add(mjUI* ui, const mjuiDef* _def); - -+ # Add definitions to UI section. -+ void mjui_addToSection(mjUI* ui, int sect, const mjuiDef* _def); -+ - # Compute UI sizes. - void mjui_resize(mjUI* ui, const mjrContext* con); - -@@ -1072,6 +1071,11 @@ - # Insertion sort, resulting list is in increasing order. - void mju_insertionSort(mjtNum* list, int n); - -+ # Integer insertion sort, resulting list is in increasing order. -+ void mju_insertionSortInt(int* list, int n); -+ - # Generate Halton sequence. - mjtNum mju_Halton(int index, int base); - -+ # Sigmoid function over 0<=x<=1 constructed from half-quadratics. -+ mjtNum mju_sigmoid(mjtNum x); -diff '--color=auto' --unified --recursive --text mujoco-py-2.0.2.13.orig/mujoco_py/utils.py mujoco-py-2.0.2.13.new/mujoco_py/utils.py ---- mujoco-py-2.0.2.13.orig/mujoco_py/utils.py 2021-10-27 15:35:32.366273501 -0400 -+++ mujoco-py-2.0.2.13.new/mujoco_py/utils.py 2021-10-27 15:41:18.601113360 -0400 -@@ -72,18 +72,16 @@ +diff '--color=auto' --unified --recursive --text mujoco-py-2.1.2.14.orig/mujoco_py/utils.py mujoco-py-2.1.2.14.new/mujoco_py/utils.py +--- mujoco-py-2.1.2.14.orig/mujoco_py/utils.py 2021-12-02 03:51:35.837128511 -0500 ++++ mujoco-py-2.1.2.14.new/mujoco_py/utils.py 2021-12-02 04:02:43.413373188 -0500 +@@ -61,7 +61,6 @@ def discover_mujoco(): """ Discovers where MuJoCo is located in the file system. - Currently assumes path is in ~/.mujoco Returns: - - mujoco_path (str): Path to MuJoCo 2.0 directory. - - key_path (str): Path to the MuJoCo license key. - """ -- key_path = os.getenv('MUJOCO_PY_MJKEY_PATH') -- if not key_path: -- key_path = join(expanduser('~'), '.mujoco', 'mjkey.txt') + - mujoco_path (str): Path to MuJoCo 2.1 directory. +@@ -69,6 +68,8 @@ mujoco_path = os.getenv('MUJOCO_PY_MUJOCO_PATH') if not mujoco_path: -- mujoco_path = join(expanduser('~'), '.mujoco', 'mujoco200') -+ mujoco_path = join(expanduser('~'), '.mujoco', 'mujoco210') + mujoco_path = join(expanduser('~'), '.mujoco', 'mujoco210') + if not exists(mujoco_path): + mujoco_path = "/opt/mujoco" # We get lots of github issues that seem to be missing these # so check that mujoco is really there and raise errors if not. -@@ -91,9 +89,5 @@ - message = MISSING_MUJOCO_MESSAGE.format(mujoco_path) - print(message, file=sys.stderr) - raise Exception(message) -- if not exists(key_path): -- message = MISSING_KEY_MESSAGE.format(key_path) -- print(message, file=sys.stderr) -- raise Exception(message) - -- return (mujoco_path, key_path) -+ return (mujoco_path, "/dev/null") |