Mujoco v2.0 (#368)

* Add build directory to the git ignore file.

* Updating mujoco-py for mujoco 2.0

* Removing commented out test.

* Remove windows support.

* Alpha version prerelease.

.gitignore

@@ -53,3 +53,4 @@ cymj.c
 *.c
 *.so
 .python-version
+/build

Dockerfile

@@ -38,11 +38,12 @@ 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/mjpro150_linux.zip -O mujoco.zip \
+    && 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/mjpro150/bin:${LD_LIBRARY_PATH}
+ENV LD_LIBRARY_PATH /root/.mujoco/mujoco200/bin:${LD_LIBRARY_PATH}
 ENV LD_LIBRARY_PATH /usr/local/nvidia/lib64:${LD_LIBRARY_PATH}
 
 COPY vendor/Xdummy /usr/local/bin/Xdummy

Makefile

@@ -65,8 +65,9 @@ cirra:
 #
 # Gather all *.so files.
 upload:
-	test -f ./mujoco_py/generated/cymj_$(VERSION)_$(PYTHON_VERSION)_linuxcpuextensionbuilder.so || exit -1
-	test -f ./mujoco_py/generated/cymj_$(VERSION)_$(PYTHON_VERSION)_linuxgpuextensionbuilder.so || exit -1
+    # Commented out for now, binary distributions seem not to work very well
+	# test -f ./mujoco_py/generated/cymj_$(VERSION)_$(PYTHON_VERSION)_linuxcpuextensionbuilder.so || exit -1
+	# test -f ./mujoco_py/generated/cymj_$(VERSION)_$(PYTHON_VERSION)_linuxgpuextensionbuilder.so || exit -1
 	rm -rf dist
 	python setup.py sdist
 	twine upload dist/*

README.md

@@ -2,7 +2,11 @@
 
 # mujoco-py [![Documentation](https://img.shields.io/badge/docs-latest-brightgreen.svg?style=flat)](https://openai.github.io/mujoco-py/build/html/index.html) [![Build Status](https://travis-ci.org/openai/mujoco-py.svg?branch=master)](https://travis-ci.org/openai/mujoco-py)
 
-[MuJoCo](http://mujoco.org/) is a physics engine for detailed, efficient rigid body simulations with contacts. `mujoco-py` allows using MuJoCo from Python 3.
+[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.
+
 
 ## Synopsis
 
@@ -15,33 +19,32 @@ The following platforms are currently supported:
 
 The following platforms are DEPRECATED and unsupported:
 
-- Windows support is DEPRECATED and will be removed soon. One known good past version is [1.50.1.68](https://github.com/openai/mujoco-py/blob/9ea9bb000d6b8551b99f9aa440862e0c7f7b4191/README.md#requirements).
+- Windows support has been DEPRECATED and removed in [2.0.2.0]. One known good past version is [1.50.1.68](https://github.com/openai/mujoco-py/blob/9ea9bb000d6b8551b99f9aa440862e0c7f7b4191/README.md#requirements).
 - Python 2 has been DEPRECATED and removed in [1.50.1.0](https://github.com/openai/mujoco-py/releases/tag/1.50.1.0). Python 2 users can stay on the [`0.5` branch](https://github.com/openai/mujoco-py/tree/0.5). The latest release there is [`0.5.7`](https://github.com/openai/mujoco-py/releases/tag/0.5.7) which can be installed with `pip install mujoco-py==0.5.7`.
 
 ### 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 1.50 binaries for
-   [Linux](https://www.roboti.us/download/mjpro150_linux.zip),
-   [OSX](https://www.roboti.us/download/mjpro150_osx.zip), or
-   [Windows](https://www.roboti.us/download/mjpro150_win64.zip).
-3. Unzip the downloaded `mjpro150` directory into `~/.mujoco/mjpro150`,
+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`.
 
 If you want to specify a nonstandard location for the key and package,
-use the env variables `MUJOCO_PY_MJKEY_PATH` and `MUJOCO_PY_MJPRO_PATH`.
+use the env variables `MUJOCO_PY_MJKEY_PATH` and `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<1.50.2,>=1.50.1
+mujoco-py<2.1,>=2.0
 ```
 To play with `mujoco-py` interactively, follow these steps:
 ```
-$ pip3 install -U 'mujoco-py<1.50.2,>=1.50.1'
+$ pip3 install -U 'mujoco-py<2.1,>=2.0'
 $ python3
 import mujoco_py
 import os
@@ -77,7 +80,7 @@ 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=$HOME/.mujoco/mjpro150/bin pip install mujoco-py
+    LD_LIBRARY_PATH=$HOME/.mujoco/mujoco200/bin pip install mujoco-py
 
 This is particularly useful on Ubuntu 14.04, which does not have a GLFW package.
 
@@ -124,3 +127,4 @@ This is somewhat dependent on internal OpenAI infrastructure at the moment, but
 - Jonathan Ho
 - Peter Welinder
 - Wojciech Zaremba
+- Jerry Tworek

examples/mjvive.py

@@ -25,7 +25,7 @@
 import numpy as np
 import OpenGL.GL as gl
 from mujoco_py import functions
-from mujoco_py.builder import mjpro_path
+from mujoco_py.builder import mujoco_path
 from mujoco_py.cymj import (MjRenderContext, MjSim, load_model_from_xml,
                             PyMjrRect, PyMjvCamera)
 from mujoco_py.generated.const import (CAT_ALL, FB_OFFSCREEN, FONT_BIG,
@@ -37,6 +37,7 @@
 class HMD():  # anonymous object we can set fields on
     pass
 
+
 window = None
 sim = None
 ctx = None
@@ -156,7 +157,7 @@ def v_render():
 
 
 if __name__ == '__main__':
-    filename = os.path.join(mjpro_path, 'model', 'humanoid.xml')
+    filename = os.path.join(mujoco_path, 'model', 'humanoid.xml')
     v_initPre()
     initMuJoCo(filename, hmd.width * 2, hmd.height)
     v_initPost()

mujoco_py/builder.py

@@ -41,7 +41,7 @@ def get_nvidia_lib_dir():
     return paths[-1]
 
 
-def load_cython_ext(mjpro_path):
+def load_cython_ext(mujoco_path):
     """
     Loads the cymj Cython extension. This is safe to be called from
     multiple processes running on the same machine.
@@ -62,7 +62,7 @@ def load_cython_ext(mjpro_path):
 The easy solution is to `import mujoco_py` _before_ `import glfw`.
 ''')
 
-    lib_path = os.path.join(mjpro_path, "bin")
+    lib_path = os.path.join(mujoco_path, "bin")
     if sys.platform == 'darwin':
         Builder = MacExtensionBuilder
     elif sys.platform == 'linux':
@@ -81,7 +81,7 @@ def load_cython_ext(mjpro_path):
     else:
         raise RuntimeError("Unsupported platform %s" % sys.platform)
 
-    builder = Builder(mjpro_path)
+    builder = Builder(mujoco_path)
     cext_so_path = builder.get_so_file_path()
 
     lockpath = os.path.join(os.path.dirname(cext_so_path), 'mujocopy-buildlock')
@@ -153,7 +153,7 @@ def fix_shared_library(so_file, name, library_path):
     subprocess.check_call(['patchelf', '--add-needed', library_path, so_file])
 
 
-def manually_link_libraries(mjpro_path, raw_cext_dll_path):
+def manually_link_libraries(mujoco_path, raw_cext_dll_path):
     ''' Used to fix mujoco library linking on Mac '''
     root, ext = os.path.splitext(raw_cext_dll_path)
     final_cext_dll_path = root + '_final' + ext
@@ -167,12 +167,12 @@ def manually_link_libraries(mjpro_path, raw_cext_dll_path):
     tmp_final_cext_dll_path = final_cext_dll_path + '~'
     shutil.copyfile(raw_cext_dll_path, tmp_final_cext_dll_path)
 
-    mj_bin_path = join(mjpro_path, 'bin')
+    mj_bin_path = join(mujoco_path, 'bin')
 
     # Fix the rpath of the generated library -- i lost the Stackoverflow
     # reference here
-    from_mujoco_path = '@executable_path/libmujoco150.dylib'
-    to_mujoco_path = '%s/libmujoco150.dylib' % mj_bin_path
+    from_mujoco_path = '@executable_path/libmujoco200.dylib'
+    to_mujoco_path = '%s/libmujoco200.dylib' % mj_bin_path
     subprocess.check_call(['install_name_tool',
                            '-change',
                            from_mujoco_path,
@@ -195,20 +195,20 @@ class MujocoExtensionBuilder():
 
     CYMJ_DIR_PATH = abspath(dirname(__file__))
 
-    def __init__(self, mjpro_path):
-        self.mjpro_path = mjpro_path
+    def __init__(self, mujoco_path):
+        self.mujoco_path = mujoco_path
         python_version = str(sys.version_info.major) + str(sys.version_info.minor)
         self.version = '%s_%s_%s' % (get_version(), python_version, self.build_base())
         self.extension = Extension(
             'mujoco_py.cymj',
             sources=[join(self.CYMJ_DIR_PATH, "cymj.pyx")],
             include_dirs=[
                 self.CYMJ_DIR_PATH,
-                join(mjpro_path, 'include'),
+                join(mujoco_path, 'include'),
                 np.get_include(),
             ],
-            libraries=['mujoco150'],
-            library_dirs=[join(mjpro_path, 'bin')],
+            libraries=['mujoco200'],
+            library_dirs=[join(mujoco_path, 'bin')],
             extra_compile_args=[
                 '-fopenmp',  # needed for OpenMP
                 '-w',  # suppress numpy compilation warnings
@@ -252,58 +252,58 @@ def get_so_file_path(self):
 
 class WindowsExtensionBuilder(MujocoExtensionBuilder):
 
-    def __init__(self, mjpro_path):
-        super().__init__(mjpro_path)
-        os.environ["PATH"] += ";" + join(mjpro_path, "bin")
+    def __init__(self, mujoco_path):
+        super().__init__(mujoco_path)
+        os.environ["PATH"] += ";" + join(mujoco_path, "bin")
         self.extension.sources.append(self.CYMJ_DIR_PATH + "/gl/dummyshim.c")
 
 
 class LinuxCPUExtensionBuilder(MujocoExtensionBuilder):
 
-    def __init__(self, mjpro_path):
-        super().__init__(mjpro_path)
+    def __init__(self, mujoco_path):
+        super().__init__(mujoco_path)
 
         self.extension.sources.append(
             join(self.CYMJ_DIR_PATH, "gl", "osmesashim.c"))
         self.extension.libraries.extend(['glewosmesa', 'OSMesa', 'GL'])
-        self.extension.runtime_library_dirs = [join(mjpro_path, 'bin')]
+        self.extension.runtime_library_dirs = [join(mujoco_path, 'bin')]
 
     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, 'libmujoco150.so', 'libmujoco150.so')
+        fix_shared_library(so_file_path, 'libmujoco200.so', 'libmujoco200.so')
         fix_shared_library(so_file_path, 'libglewosmesa.so', 'libglewosmesa.so')
         return so_file_path
 
 
 class LinuxGPUExtensionBuilder(MujocoExtensionBuilder):
 
-    def __init__(self, mjpro_path):
-        super().__init__(mjpro_path)
+    def __init__(self, mujoco_path):
+        super().__init__(mujoco_path)
 
         self.extension.sources.append(self.CYMJ_DIR_PATH + "/gl/eglshim.c")
         self.extension.include_dirs.append(self.CYMJ_DIR_PATH + '/vendor/egl')
         self.extension.libraries.extend(['glewegl'])
-        self.extension.runtime_library_dirs = [join(mjpro_path, 'bin')]
+        self.extension.runtime_library_dirs = [join(mujoco_path, 'bin')]
 
     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, 'libmujoco150.so', 'libmujoco150.so')
+        fix_shared_library(so_file_path, 'libmujoco200.so', 'libmujoco200.so')
         fix_shared_library(so_file_path, 'libglewegl.so', 'libglewegl.so')
         return so_file_path
 
 
 class MacExtensionBuilder(MujocoExtensionBuilder):
 
-    def __init__(self, mjpro_path):
-        super().__init__(mjpro_path)
+    def __init__(self, mujoco_path):
+        super().__init__(mujoco_path)
 
         self.extension.sources.append(self.CYMJ_DIR_PATH + "/gl/dummyshim.c")
         self.extension.libraries.extend(['glfw.3'])
         self.extension.define_macros = [('ONMAC', None)]
-        self.extension.runtime_library_dirs = [join(mjpro_path, 'bin')]
+        self.extension.runtime_library_dirs = [join(mujoco_path, 'bin')]
 
     def _build_impl(self):
         if not os.environ.get('CC'):
@@ -327,7 +327,7 @@ def _build_impl(self):
             del os.environ['CC']
         else:  # User-directed c compiler
             so_file_path = super()._build_impl()
-        return manually_link_libraries(self.mjpro_path, so_file_path)
+        return manually_link_libraries(self.mujoco_path, so_file_path)
 
 
 class MujocoException(Exception):
@@ -467,9 +467,9 @@ def build_callback_fn(function_string, userdata_names=[]):
     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(mjpro_path, 'include')],
-                          library_dirs=[join(mjpro_path, 'bin')],
-                          libraries=['mujoco150'])
+                          include_dirs=[join(mujoco_path, 'include')],
+                          library_dirs=[join(mujoco_path, 'bin')],
+                          libraries=['mujoco200'])
     # Catch compilation exceptions so we can cleanup partial files in that case
     try:
         library_path = ffibuilder.compile(verbose=True)
@@ -478,7 +478,7 @@ def build_callback_fn(function_string, userdata_names=[]):
         raise e
     # On Mac the MuJoCo library is linked strangely, so we have to fix it here
     if sys.platform == 'darwin':
-        fixed_library_path = manually_link_libraries(mjpro_path, library_path)
+        fixed_library_path = manually_link_libraries(mujoco_path, library_path)
         move(fixed_library_path, library_path)  # Overwrite with fixed library
     module = load_dynamic_ext(name, library_path)
     # Now that the module is loaded into memory, we can actually delete it
@@ -499,8 +499,8 @@ def activate():
     functions.mj_activate(key_path)
 
 
-mjpro_path, key_path = discover_mujoco()
-cymj = load_cython_ext(mjpro_path)
+mujoco_path, key_path = discover_mujoco()
+cymj = load_cython_ext(mujoco_path)
 
 
 # Trick to expose all mj* functions from mujoco in mujoco_py.*