diff options
| author | Eric Langlois | 2021-10-31 20:39:13 -0400 |
|---|---|---|
| committer | Eric Langlois | 2021-10-31 20:44:17 -0400 |
| commit | fca11c44634a6d7a87a27f4e42e34a162ee74ac2 (patch) | |
| tree | 322b65865f402ae61117f2cbdb24362e8de4d56a | |
| parent | 1bcbfe4e5a2b97318dfc5dfc4246dc0ea31c18c5 (diff) | |
| download | aur-fca11c44634a6d7a87a27f4e42e34a162ee74ac2.tar.gz | |
upgpkg: python-mujoco-py 2.0.2.13-2
Patch to use MuJoCo 2.1.0
| -rw-r--r-- | .SRCINFO | 11 | ||||
| -rw-r--r-- | PKGBUILD | 30 | ||||
| -rw-r--r-- | mujoco-py-gen_wrappers.py.patch | 22 | ||||
| -rw-r--r-- | mujoco-py.patch | 399 |
4 files changed, 432 insertions, 30 deletions
@@ -1,7 +1,7 @@ pkgbase = python-mujoco-py pkgdesc = Python interface to the MuJoCo physics engine pkgver = 2.0.2.13 - pkgrel = 1 + pkgrel = 2 url = https://github.com/openai/mujoco-py arch = x86_64 license = MIT @@ -9,11 +9,8 @@ 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 @@ -22,9 +19,13 @@ pkgbase = python-mujoco-py 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 = mujoco-py.patch sha256sums = d6ae66276b565af9063597fda70683a89c7356290f5ac3961b794ee90ec50eea sha256sums = fb896a8cbad505b0fe1f324e7d4f02032e56885c6544b7644180258d6077a71a - sha256sums = 21163edd7ef1046d504caec64d517a79af8603e54cc0edb6819d34e9d9529865 + sha256sums = c13dd644594f3746bb0e5db2cdc8be2d7acb8b7e91fa5299bd1825f2bebd8d41 + sha256sums = SKIP + sha256sums = SKIP pkgname = python-mujoco-py @@ -2,18 +2,15 @@ pkgname=python-mujoco-py _name=${pkgname#python-} pkgver=2.0.2.13 -pkgrel=1 +pkgrel=2 pkgdesc="Python interface to the MuJoCo physics engine" arch=('x86_64') url="https://github.com/openai/mujoco-py" license=('MIT' 'custom') depends=( 'cython' - 'glew' - 'libgl' 'mesa' 'mujoco' - 'python' 'python-cffi' 'python-fasteners' 'python-glfw' @@ -28,17 +25,38 @@ options=(!strip) # Get it from the mujoco-py github repo instead. # Also, there is no release marked for the recent pip package version, # so use the lastest `master` commit (at the time of writing). +# +# The gen_wrappers.py script is similarly not included in the pip package but +# helps with updating to mujoco 210 _release_commit="4830435a169c1f3e3b5f9b58a7c3d9c39bdf4acb" source=("https://files.pythonhosted.org/packages/source/${_name::1}/$_name/$_name-$pkgver.tar.gz" - "$_name-$pkgver-LICENSE.md::https://raw.githubusercontent.com/openai/mujoco-py/$_release_commit/LICENSE.md" + "$_name-$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' - '21163edd7ef1046d504caec64d517a79af8603e54cc0edb6819d34e9d9529865') + 'c13dd644594f3746bb0e5db2cdc8be2d7acb8b7e91fa5299bd1825f2bebd8d41' + 'SKIP' + '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() { diff --git a/mujoco-py-gen_wrappers.py.patch b/mujoco-py-gen_wrappers.py.patch new file mode 100644 index 000000000000..a67c37d4e8c4 --- /dev/null +++ b/mujoco-py-gen_wrappers.py.patch @@ -0,0 +1,22 @@ +--- 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 23046f592329..99c67a9eaa62 100644 --- a/mujoco-py.patch +++ b/mujoco-py.patch @@ -1,6 +1,6 @@ -diff --unified --recursive --text mujoco-py-2.0.2.9.orig/mujoco_py/builder.py mujoco-py-2.0.2.9.new/mujoco_py/builder.py ---- mujoco-py-2.0.2.9.orig/mujoco_py/builder.py 2020-04-07 21:40:53.528385933 -0400 -+++ mujoco-py-2.0.2.9.new/mujoco_py/builder.py 2020-04-07 21:39:20.261717094 -0400 +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): @@ -34,6 +34,17 @@ diff --unified --recursive --text mujoco-py-2.0.2.9.orig/mujoco_py/builder.py mu 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 @@ sources=[join(self.CYMJ_DIR_PATH, "cymj.pyx")], include_dirs=[ @@ -42,8 +53,9 @@ diff --unified --recursive --text mujoco-py-2.0.2.9.orig/mujoco_py/builder.py mu + "/usr/include/mujoco", np.get_include(), ], - libraries=['mujoco200'], +- libraries=['mujoco200'], - library_dirs=[join(mujoco_path, 'bin')], ++ libraries=['mujoco210'], extra_compile_args=[ '-fopenmp', # needed for OpenMP '-w', # suppress numpy compilation warnings @@ -58,8 +70,9 @@ diff --unified --recursive --text mujoco-py-2.0.2.9.orig/mujoco_py/builder.py mu 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, 'libmujoco200.so', 'libmujoco200.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 @@ -76,26 +89,363 @@ diff --unified --recursive --text mujoco-py-2.0.2.9.orig/mujoco_py/builder.py mu 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, 'libmujoco200.so', 'libmujoco200.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 -@@ -476,8 +478,7 @@ +@@ -476,9 +478,8 @@ 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=['mujoco200']) ++ libraries=['mujoco210']) # Catch compilation exceptions so we can cleanup partial files in that case try: -diff --unified --recursive --text mujoco-py-2.0.2.9.orig/mujoco_py/utils.py mujoco-py-2.0.2.9.new/mujoco_py/utils.py ---- mujoco-py-2.0.2.9.orig/mujoco_py/utils.py 2020-04-07 21:40:53.548385935 -0400 -+++ mujoco-py-2.0.2.9.new/mujoco_py/utils.py 2020-04-06 22:17:43.277818305 -0400 -@@ -72,7 +72,6 @@ + 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 @@ def discover_mujoco(): """ Discovers where MuJoCo is located in the file system. @@ -103,17 +453,28 @@ diff --unified --recursive --text mujoco-py-2.0.2.9.orig/mujoco_py/utils.py mujo Returns: - mujoco_path (str): Path to MuJoCo 2.0 directory. -@@ -81,9 +80,13 @@ - key_path = os.getenv('MUJOCO_PY_MJKEY_PATH') - if not key_path: - key_path = join(expanduser('~'), '.mujoco', 'mjkey.txt') -+ if not exists(key_path): -+ key_path = "/usr/share/licenses/mujoco/mjkey.txt" + - 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 = os.getenv('MUJOCO_PY_MUJOCO_PATH') if not mujoco_path: - mujoco_path = join(expanduser('~'), '.mujoco', 'mujoco200') +- mujoco_path = join(expanduser('~'), '.mujoco', 'mujoco200') ++ 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") |