Update mujoco-py to MuJoCo 2.1 (#640)

* Update to MuJoCo 2.1.0

- Remove license-related parts of the build process.
- Correctly parse the comments for array sizes based on nmocap.
- Explicitly exclude a few structs from generated wrappers, where
  the structs don't have a corresponding typedef.

Still TODO: Update README.md once a new package is pushed to PyPi.

* Remove MuJoCo key docs from README.md.

As of version 2.1.0, MuJoCo doesn't require an activation key.

Author: nimrod-gileadi

Dockerfile

@@ -14,7 +14,6 @@ RUN apt-get update -q \
     libosmesa6-dev \
     software-properties-common \
     net-tools \
-    unzip \
     vim \
     virtualenv \
     wget \
@@ -38,12 +37,11 @@ RUN curl -o /usr/local/bin/patchelf https://s3-us-west-2.amazonaws.com/openai-sc
 ENV LANG C.UTF-8
 
 RUN mkdir -p /root/.mujoco \
-    && wget https://www.roboti.us/download/mujoco200_linux.zip -O mujoco.zip \
-    && unzip mujoco.zip -d /root/.mujoco \
-    && mv /root/.mujoco/mujoco200_linux /root/.mujoco/mujoco200 \
-    && rm mujoco.zip
-COPY ./mjkey.txt /root/.mujoco/
-ENV LD_LIBRARY_PATH /root/.mujoco/mujoco200/bin:${LD_LIBRARY_PATH}
+    && wget https://mujoco.org/download/mujoco210-linux-x86_64.tar.gz -O mujoco.tar.gz \
+    && tar -xf mujoco.tar.gz -C /root/.mujoco \
+    && rm mujoco.tar.gz
+
+ENV LD_LIBRARY_PATH /root/.mujoco/mujoco210/bin:${LD_LIBRARY_PATH}
 ENV LD_LIBRARY_PATH /usr/local/nvidia/lib64:${LD_LIBRARY_PATH}
 
 COPY vendor/Xdummy /usr/local/bin/Xdummy

Makefile

@@ -1,7 +1,6 @@
 SHELL := /bin/bash
 .PHONY: all clean build test mount_shell shell upload check-env
 
-MUJOCO_LICENSE_PATH ?= ~/.mujoco/mjkey.txt
 VERSION := `cd mujoco_py; python -c "from version import get_version;print(get_version())"; cd ..`
 PYTHON_VERSION := "36"
 DOCKER_NAME := quay.io/openai/mujoco_py:$(USER)_$(VERSION)
@@ -24,9 +23,8 @@ clean:
 	rm -rf dist
 	rm -rf build
 
-build: check-license
-	cp $(MUJOCO_LICENSE_PATH) mjkey.txt
-	docker build -t $(DOCKER_NAME) . || rm mjkey.txt && rm mjkey.txt
+build:
+	docker build -t $(DOCKER_NAME) .
 
 push:
 	docker push $(DOCKER_NAME)
@@ -82,8 +80,3 @@ generate_cpu_so:
 	docker run -it --name $(UUID) $(DOCKER_NAME) bash -c "make clean;python -c 'import mujoco_py'"
 	docker cp $(UUID):/mujoco_py/mujoco_py/generated/cymj_$(VERSION)_$(PYTHON_VERSION)_linuxcpuextensionbuilder.so mujoco_py/generated/
 
-
-check-license:
-ifeq ("","$(wildcard $(MUJOCO_LICENSE_PATH))")
-    $(error "License key not found at location $(MUJOCO_LICENSE_PATH). Use MUJOCO_LICENSE_PATH to specify its path")
-endif

README.md

@@ -5,7 +5,7 @@
 [MuJoCo](http://mujoco.org/) is a physics engine for detailed, efficient rigid body simulations with contacts.
 `mujoco-py` allows using MuJoCo from Python 3.
 
-This library has been updated to be compatible with MuJoCo version 2.0 released on 10/1/2018.
+This library has been updated to be compatible with MuJoCo version 2.1 released on 2021-10-18.
 
 
 ## Synopsis
@@ -24,31 +24,26 @@ The following platforms are DEPRECATED and unsupported:
 
 ### Install MuJoCo
 
-1. Obtain a 30-day free trial on the [MuJoCo website](https://www.roboti.us/license.html)
-   or free license if you are a student.
-   The license key will arrive in an email with your username and password.
-2. Download the MuJoCo version 2.0 binaries for
-   [Linux](https://www.roboti.us/download/mujoco200_linux.zip) or
-   [OSX](https://www.roboti.us/download/mujoco200_macos.zip).
-3. Unzip the downloaded `mujoco200` directory into `~/.mujoco/mujoco200`,
-   and place your license key (the `mjkey.txt` file from your email)
-   at `~/.mujoco/mjkey.txt`.
+1. Download the MuJoCo version 2.1 binaries for
+   [Linux](https://mujoco.org/download/mujoco210-linux-x86_64.tar.gz) or
+   [OSX](https://mujoco.org/download/mujoco210-macos-x86_64.tar.gz).
+1. Extract the downloaded `mujoco210` directory into `~/.mujoco/mujoco210`.
 
-If you want to specify a nonstandard location for the key and package,
-use the env variables `MUJOCO_PY_MJKEY_PATH` and `MUJOCO_PY_MUJOCO_PATH`.
+If you want to specify a nonstandard location for the package,
+use the env variable `MUJOCO_PY_MUJOCO_PATH`.
 
 ### Install and use `mujoco-py`
 To include `mujoco-py` in your own package, add it to your requirements like so:
 ```
-mujoco-py<2.1,>=2.0
+mujoco-py<2.2,>=2.1
 ```
 To play with `mujoco-py` interactively, follow these steps:
 ```
-$ pip3 install -U 'mujoco-py<2.1,>=2.0'
+$ pip3 install -U 'mujoco-py<2.2,>=2.1'
 $ python3
 import mujoco_py
 import os
-mj_path, _ = mujoco_py.utils.discover_mujoco()
+mj_path = mujoco_py.utils.discover_mujoco()
 xml_path = os.path.join(mj_path, 'model', 'humanoid.xml')
 model = mujoco_py.load_model_from_path(xml_path)
 sim = mujoco_py.MjSim(model)
@@ -97,7 +92,7 @@ export CPPFLAGS="-I/usr/local/opt/llvm/include"
 
 ```bash
 # Make sure your python environment is activated
-pip install -U 'mujoco-py<2.1,>=2.0'
+pip install -U 'mujoco-py<2.2,>=2.1'
 ```
 
 ### Missing GLFW
@@ -112,7 +107,7 @@ MuJoCo ships with its own copy of this library, which can be used during install
 
 Add the path to the mujoco bin directory to your dynamic loader:
 
-    LD_LIBRARY_PATH=$HOME/.mujoco/mujoco200/bin pip install mujoco-py
+    LD_LIBRARY_PATH=$HOME/.mujoco/mujoco210/bin pip install mujoco-py
 
 This is particularly useful on Ubuntu 14.04, which does not have a GLFW package.
 

mujoco_py/__init__.py

@@ -1,11 +1,9 @@
 #!/usr/bin/env python
-import os
 from mujoco_py.builder import cymj, ignore_mujoco_warnings, functions, MujocoException
 from mujoco_py.generated import const
 from mujoco_py.mjrenderpool import MjRenderPool
 from mujoco_py.mjviewer import MjViewer, MjViewerBasic
 from mujoco_py.version import __version__, get_version
-import mujoco_py
 
 load_model_from_path = cymj.load_model_from_path
 load_model_from_xml = cymj.load_model_from_xml
@@ -29,10 +27,3 @@
            '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()

mujoco_py/builder.py

@@ -19,7 +19,7 @@
 from Cython.Distutils.old_build_ext import old_build_ext as build_ext
 from cffi import FFI
 
-from mujoco_py.utils import discover_mujoco, MISSING_KEY_MESSAGE
+from mujoco_py.utils import discover_mujoco
 from mujoco_py.version import get_version
 
 
@@ -172,8 +172,8 @@ def manually_link_libraries(mujoco_path, raw_cext_dll_path):
 
     # 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,
@@ -208,7 +208,7 @@ def __init__(self, mujoco_path):
                 join(mujoco_path, 'include'),
                 np.get_include(),
             ],
-            libraries=['mujoco200'],
+            libraries=['mujoco210'],
             library_dirs=[join(mujoco_path, 'bin')],
             extra_compile_args=[
                 '-fopenmp',  # needed for OpenMP
@@ -272,7 +272,7 @@ def __init__(self, mujoco_path):
     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')
         return so_file_path
 
@@ -291,7 +291,7 @@ def _build_impl(self):
         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')
         return so_file_path
 
@@ -478,7 +478,7 @@ def build_callback_fn(function_string, userdata_names=[]):
     ffibuilder.set_source(name, source_string,
                           include_dirs=[join(mujoco_path, 'include')],
                           library_dirs=[join(mujoco_path, 'bin')],
-                          libraries=['mujoco200'])
+                          libraries=['mujoco210'])
     # Catch compilation exceptions so we can cleanup partial files in that case
     try:
         library_path = ffibuilder.compile(verbose=True)
@@ -495,18 +495,7 @@ def build_callback_fn(function_string, userdata_names=[]):
     return module.lib.__fun
 
 
-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)
-
-
-def activate():
-    functions.mj_activate(key_path)
-
-
-mujoco_path, key_path = discover_mujoco()
+mujoco_path = discover_mujoco()
 cymj = load_cython_ext(mujoco_path)
 
 

mujoco_py/generated/const.py

@@ -8,8 +8,8 @@
 MINIMP = 0.0001                     # minimum constraint impedance
 MAXIMP = 0.9999                     # maximum constraint impedance
 MAXCONPAIR = 50.0                   # maximum number of contacts per geom pair
-MAXVFS = 200.0                      # maximum number of files in virtual file system
-MAXVFSNAME = 100.0                  # maximum filename size in virtual file system
+MAXVFS = 2000.0                     # maximum number of files in virtual file system
+MAXVFSNAME = 1000.0                 # maximum filename size in virtual file system
 NEQDATA = 7.0                       # number of eq_data fields
 NDYN = 10.0                         # number of actuator dynamics parameters
 NGAIN = 10.0                        # number of actuator gain parameters
@@ -26,11 +26,12 @@
 MAXTEXTURE = 1000.0                 # maximum number of textures
 MAXUISECT = 10.0                    # maximum number of sections
 MAXUIITEM = 80.0                    # maximum number of items per section
-MAXUITEXT = 500.0                   # maximum number of chars in edittext and other
+MAXUITEXT = 300.0                   # maximum number of chars in edittext and other
 MAXUINAME = 40.0                    # maximum number of chars in name
-MAXUIMULTI = 20.0                   # maximum number of radio/select items in group
-MAXUIEDIT = 5.0                     # maximum number of elements in edit list
-MAXUIRECT = 15.0                    # maximum number of rectangles
+MAXUIMULTI = 35.0                   # maximum number of radio/select items in group
+MAXUIEDIT = 7.0                     # maximum number of elements in edit list
+MAXUIRECT = 25.0                    # maximum number of rectangles
+SEPCLOSED = 1000.0                  # closed state of adjustable separator
 KEY_ESCAPE = 256.0                  # 
 KEY_ENTER = 257.0                   # 
 KEY_TAB = 258.0                     # 
@@ -449,10 +450,11 @@
 ITEM_CHECKINT = 3
 ITEM_CHECKBYTE = 4
 ITEM_RADIO = 5
-ITEM_SELECT = 6
-ITEM_SLIDERINT = 7
-ITEM_SLIDERNUM = 8
-ITEM_EDITINT = 9
-ITEM_EDITNUM = 10
-ITEM_EDITTXT = 11
-NITEM = 12
+ITEM_RADIOLINE = 6
+ITEM_SELECT = 7
+ITEM_SLIDERINT = 8
+ITEM_SLIDERNUM = 9
+ITEM_EDITINT = 10
+ITEM_EDITNUM = 11
+ITEM_EDITTXT = 12
+NITEM = 13