Update MuJoCo dep to v3.0.0 and remove MjLib from the public paramete…

…rs API in the Cartesian 6d Mapper.

PiperOrigin-RevId: 576104568
Change-Id: I7a42ba2f95f7608d0eec8b8822ad51c3c1e157c9

README.md

@@ -25,7 +25,7 @@ These libraries are distributed on PyPI, the packages are:
 *  `dm_robotics-moma`
 *  `dm_robotics-controllers`
 
-Python versions 3.7, 3.8, 3.9 and 3.10 are supported.
+Python versions 3.8, 3.9 and 3.10 are supported.
 
 ## Dependencies
 `MoMa`, `Manipulation` and `Controllers` depend on MuJoCo, the other packages do not.
@@ -35,10 +35,9 @@ See the individual packages for more information on their dependencies.
 
 To build and test the libraries, run `build.sh`.  This script assumes:
 
-*  MuJoCo is installed.
 *  [`dm_control`](https://github.com/deepmind/dm_control) is installed.
 *  cmake version >= 3.20.2 is installed.
-*  Python 3.7, 3.8, 3.9 or 3.10 and system headers are installed.
+*  Python 3.8, 3.9 or 3.10 and system headers are installed.
 *  GCC version 9 or later is installed.
 *  numpy is installed.
 

cpp/CMakeLists.txt

@@ -15,13 +15,14 @@
 cmake_minimum_required(VERSION 3.5)
 project(dm_robotics
   DESCRIPTION "DM Robotics"
-  VERSION 0.1
+  VERSION 0.2
 )
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+add_compile_options(-Wno-stringop-truncation)
 
 # To build a manylinux compatible wheel:
 # set DM_ROBOTICS_BUILD_WHEEL True
@@ -127,6 +128,8 @@ if (DM_ROBOTICS_BUILD_dmr_support
   OR DM_ROBOTICS_BUILD_dmr_controllers
   OR DM_ROBOTICS_BUILD_dmr_controllers_python
 )
+  set(ABSL_PROPAGATE_CXX_STD ON)
+  set(ABSL_BUILD_TESTING OFF)
   FindOrFetch(
     USE_SYSTEM_PACKAGE
       DM_ROBOTICS_USE_SYSTEM_absl
@@ -137,7 +140,7 @@ if (DM_ROBOTICS_BUILD_dmr_support
     GIT_REPO
       https://github.com/abseil/abseil-cpp.git
     GIT_TAG
-      lts_2021_11_02
+      c2435f8342c2d0ed8101cb43adfd605fdc52dca2
     TARGETS
       absl::span
       absl::hash
@@ -175,6 +178,25 @@ if (DM_ROBOTICS_BUILD_dmr_lsqp
   )
 endif()
 
+# MuJoco 3.0.0
+if (DM_ROBOTICS_MUJOCO_TAR)
+  message(STATUS "dm_robotics: MuJoCo TAR file specified at `${DM_ROBOTICS_MUJOCO_TAR}`.")
+else()
+  message(STATUS "dm_robotics: MuJoCo TAR file not specified. Downloading MuJoCo....")
+  file(DOWNLOAD https://github.com/google-deepmind/mujoco/releases/download/3.0.0/mujoco-3.0.0-linux-x86_64.tar.gz mujoco.tar.gz)
+  set(DM_ROBOTICS_MUJOCO_TAR mujoco.tar.gz)
+endif()
+file(ARCHIVE_EXTRACT INPUT ${DM_ROBOTICS_MUJOCO_TAR} DESTINATION mujoco_bin)
+message("Checking headers in ${CMAKE_CURRENT_BINARY_DIR}/mujoco_bin/mujoco-3.0.0/include/mujoco")
+file(GLOB_RECURSE MUJOCO_HEADERS RELATIVE "${CMAKE_CURRENT_BINARY_DIR}" "${CMAKE_CURRENT_BINARY_DIR}/mujoco_bin/mujoco-3.0.0/include/mujoco/*.h")
+message("Mujoco headers: ${MUJOCO_HEADERS}")
+add_library(mujoco SHARED IMPORTED)
+set_target_properties(mujoco PROPERTIES
+             IMPORTED_LOCATION ${CMAKE_CURRENT_BINARY_DIR}/mujoco_bin/mujoco-3.0.0/lib/libmujoco.so)
+set_target_properties(mujoco PROPERTIES PUBLIC_HEADER "${MUJOCO_HEADERS}"
+ INTERFACE_INCLUDE_DIRECTORIES "${CMAKE_CURRENT_BINARY_DIR}/mujoco_bin/mujoco-3.0.0/include"
+)
+
 # osqp-cpp
 if (DM_ROBOTICS_BUILD_dmr_lsqp)
   # Deactivate OSQP tests.
@@ -190,7 +212,7 @@ if (DM_ROBOTICS_BUILD_dmr_lsqp)
     GIT_REPO
       https://github.com/google/osqp-cpp.git
     GIT_TAG
-      8cd904e2b49c24dd41d11f8c6e0adb113dd5e26c
+      43433736334d6b515ea4b0247156fea9e56c0d3f
     TARGETS
       osqp-cpp
   )

cpp/controllers/lsqp/include/dm_robotics/controllers/lsqp/cartesian_6d_to_joint_velocity_mapper.h

@@ -76,9 +76,6 @@ class Cartesian6dToJointVelocityMapper {
   // outlive any Cartesian6dToJointVelocityMapper instances created with this
   // object.
   struct Parameters {
-    // Pointer to an MjLib object.
-    const MjLib* lib;
-
     // Pointer to a MuJoCo model.
     const mjModel* model;
 

cpp/controllers/lsqp/src/cartesian_6d_to_joint_velocity_mapper.cc

@@ -39,6 +39,11 @@
 namespace dm_robotics {
 namespace {
 
+const MjLib* MjLibInitializer() {
+  static const MjLib* const lib = new MjLib("", 0);
+  return lib;
+}
+
 // Constructs an LsqpStackOfTasksSolver::Parameters object from
 // a Cartesian6dToJointVelocityMapper::Parameters object.
 LsqpStackOfTasksSolver::Parameters ToLsqpParams(
@@ -77,7 +82,7 @@ LsqpStackOfTasksSolver::Parameters ToLsqpParams(
 Cartesian6dVelocityTask::Parameters ToCartesianVelocityParams(
     const Cartesian6dToJointVelocityMapper::Parameters& params) {
   Cartesian6dVelocityTask::Parameters output_params;
-  output_params.lib = params.lib;
+  output_params.lib = MjLibInitializer();
   output_params.model = params.model;
   output_params.joint_ids = params.joint_ids;
   output_params.object_type = params.object_type;
@@ -93,7 +98,7 @@ Cartesian6dVelocityDirectionTask::Parameters
 ToCartesianVelocityDirectionTaskParams(
     const Cartesian6dToJointVelocityMapper::Parameters& params) {
   Cartesian6dVelocityDirectionTask::Parameters output_params;
-  output_params.lib = params.lib;
+  output_params.lib = MjLibInitializer();
   output_params.model = params.model;
   output_params.joint_ids = params.joint_ids;
   output_params.object_type = params.object_type;
@@ -109,7 +114,7 @@ Cartesian6dVelocityDirectionConstraint::Parameters
 ToCartesianVelocityDirectionConstraintParams(
     const Cartesian6dToJointVelocityMapper::Parameters& params) {
   Cartesian6dVelocityDirectionConstraint::Parameters output_params;
-  output_params.lib = params.lib;
+  output_params.lib = MjLibInitializer();
   output_params.model = params.model;
   output_params.joint_ids = params.joint_ids;
   output_params.object_type = params.object_type;
@@ -124,7 +129,7 @@ ToCartesianVelocityDirectionConstraintParams(
 CollisionAvoidanceConstraint::Parameters ToCollisionAvoidanceParams(
     const Cartesian6dToJointVelocityMapper::Parameters& params) {
   CollisionAvoidanceConstraint::Parameters output_params;
-  output_params.lib = params.lib;
+  output_params.lib = MjLibInitializer();
   output_params.model = params.model;
   output_params.use_minimum_distance_contacts_only =
       params.use_minimum_distance_contacts_only;
@@ -157,7 +162,7 @@ CollisionAvoidanceConstraint::Parameters ToCollisionAvoidanceParams(
   // for most robot environments, as joint limits are such that parent-children
   // cannot collide.
   output_params.geom_pairs = CollisionPairsToGeomIdPairs(
-      *params.lib, *params.model, params.collision_pairs, false, false);
+      *MjLibInitializer(), *params.model, params.collision_pairs, false, false);
   return output_params;
 }
 
@@ -286,10 +291,8 @@ absl::Status ValidateGeomGroup(const MjLib& lib, const mjModel& model,
 
 absl::Status Cartesian6dToJointVelocityMapper::ValidateParameters(
     const Parameters& params) {
-  if (params.lib == nullptr) {
-    return absl::InvalidArgumentError(
-        "ValidateParameters: `lib` cannot be null.");
-  }
+  const MjLib* lib = MjLibInitializer();
+
   if (params.model == nullptr) {
     return absl::InvalidArgumentError(
         "ValidateParameters: `model` cannot be null.");
@@ -322,16 +325,15 @@ absl::Status Cartesian6dToJointVelocityMapper::ValidateParameters(
     return absl::InvalidArgumentError(absl::Substitute(
         "ValidateParameters: Objects of type [$0] are not supported. Only "
         "bodies, geoms, and sites are supported.",
-        params.lib->mju_type2Str(params.object_type)));
+        lib->mju_type2Str(params.object_type)));
 
-  bool is_object_found =
-      params.lib->mj_name2id(params.model, params.object_type,
-                             params.object_name.c_str()) >= 0;
+  bool is_object_found = lib->mj_name2id(params.model, params.object_type,
+                                         params.object_name.c_str()) >= 0;
   if (!is_object_found)
     return absl::NotFoundError(absl::Substitute(
         "ValidateParameters: Could not find MuJoCo object with name [$0] and "
         "type [$1] in the provided model.",
-        params.object_name, params.lib->mju_type2Str(params.object_type)));
+        params.object_name, lib->mju_type2Str(params.object_type)));
 
   if (params.integration_timestep <= absl::ZeroDuration()) {
     return absl::InvalidArgumentError(
@@ -362,9 +364,9 @@ absl::Status Cartesian6dToJointVelocityMapper::ValidateParameters(
 
   for (const auto& collision_pair : params.collision_pairs) {
     RETURN_IF_ERROR(
-        ValidateGeomGroup(*params.lib, *params.model, collision_pair.first));
+        ValidateGeomGroup(*lib, *params.model, collision_pair.first));
     RETURN_IF_ERROR(
-        ValidateGeomGroup(*params.lib, *params.model, collision_pair.second));
+        ValidateGeomGroup(*lib, *params.model, collision_pair.second));
   }
 
   if (params.cartesian_velocity_direction_task_weight < 0.0) {
@@ -406,7 +408,7 @@ absl::Status Cartesian6dToJointVelocityMapper::ValidateParameters(
 
 Cartesian6dToJointVelocityMapper::Cartesian6dToJointVelocityMapper(
     const Parameters& params)
-    : lib_(*DieIfNull(params.lib)),
+    : lib_(*DieIfNull(MjLibInitializer())),
       model_(*DieIfNull(params.model)),
       data_(lib_.mj_makeData(&model_), lib_.mj_deleteData),
       joint_dof_ids_(JointIdsToDofIds(model_, params.joint_ids)),

cpp/controllers/lsqp/tests/cartesian_6d_to_joint_velocity_mapper_test.cc

@@ -55,7 +55,6 @@ TEST_P(Cartesian6dToJointVelocityMapperTest,
 
   // Instantiate mapper and solve once.
   Cartesian6dToJointVelocityMapper::Parameters params;
-  params.lib = mjlib_;
   params.model = model_.get();
   params.joint_ids = kJointIds;
   params.object_type = kObjectType;
@@ -114,7 +113,6 @@ TEST_P(Cartesian6dToJointVelocityMapperTest,
   // Shared parameters for optimization problem with and without nullspace
   // hierarchy.
   Cartesian6dToJointVelocityMapper::Parameters params;
-  params.lib = mjlib_;
   params.model = model_.get();
   params.joint_ids = kJointIds;
   params.object_type = kObjectType;
@@ -220,7 +218,6 @@ TEST_P(Cartesian6dToJointVelocityMapperTest,
 
   // Instantiate mapper.
   Cartesian6dToJointVelocityMapper::Parameters params;
-  params.lib = mjlib_;
   params.model = model_.get();
   params.joint_ids = kJointIds;
   params.object_type = kObjectType;
@@ -294,7 +291,6 @@ TEST_P(Cartesian6dToJointVelocityMapperTest,
 
   // Instantiate mapper and solve once.
   Cartesian6dToJointVelocityMapper::Parameters params;
-  params.lib = mjlib_;
   params.model = model_.get();
   params.joint_ids = kJointIds;
   params.object_type = kObjectType;
@@ -402,7 +398,6 @@ TEST_P(Cartesian6dToJointVelocityMapperTest,
   const double kNullspaceProjectionSlack = 0.1 * kSolutionTolerance;
 
   Cartesian6dToJointVelocityMapper::Parameters params;
-  params.lib = mjlib_;
   params.model = model_.get();
   params.joint_ids = kJointIds;
   params.object_type = kObjectType;
@@ -506,7 +501,6 @@ TEST_P(
   const double kNullspaceProjectionSlack = 0.1 * kSolutionTolerance;
 
   Cartesian6dToJointVelocityMapper::Parameters params;
-  params.lib = mjlib_;
   params.model = model_.get();
   params.joint_ids = kJointIds;
   params.object_type = kObjectType;

cpp/controllers_py/cartesian_6d_to_joint_velocity_mapper.cc

@@ -22,6 +22,7 @@
 #include "absl/strings/substitute.h"
 #include "absl/types/span.h"
 #include "dm_robotics/least_squares_qp/core/utils.h"
+#include "dm_robotics/mujoco/mjlib.h"
 #include "pybind_utils.h"  // controller
 #include "pybind11/chrono.h"  // pybind
 #include "pybind11/pybind11.h"  // pybind
@@ -271,13 +272,6 @@ enabled. This overload should only be used if nullspace control is not enabled.
 using PybindGeomGroup = std::vector<std::string>;
 using PybindCollisionPair = std::pair<PybindGeomGroup, PybindGeomGroup>;
 
-// A global singleton instance of MjLib that is loaded via dm_control's
-// Python infrastructure.
-const MjLib& MjLibInitializer() {
-  static const MjLib* const lib = internal::LoadMjLibFromDmControl();
-  return *lib;
-}
-
 // Converts a non-ok `status` into a Python exception.
 //
 // Internal comment.
@@ -291,11 +285,8 @@ void RaiseIfNotOk(const absl::Status& status) {
 // is alive.
 class PyCartesian6dToJointVelocityMapperParameters {
  public:
-  // The MjLib object is initialized at construction time and never exposed in
-  // Python.
   PyCartesian6dToJointVelocityMapperParameters()
       : py_model_(py::cast(nullptr)) {
-    params_.lib = &MjLibInitializer();
     params_.model = nullptr;
   }
 

cpp/controllers_py/pybind_utils.cc

@@ -14,7 +14,6 @@
 
 #include "pybind_utils.h"  // controller
 
-#include <dlfcn.h>
 #include <errno.h>
 #include <string.h>
 #include <sys/stat.h>
@@ -78,43 +77,6 @@ void RaiseRuntimeErrorWithMessage(absl::string_view message) {
   throw py::error_already_set();
 }
 
-const MjLib* LoadMjLibFromDmControlStatically() {
-  return new MjLib("", RTLD_NOW);
-}
-
-const MjLib* LoadMjLibFromDmControlDynamically() {
-  // Get the path to the mujoco library.
-  const py::module mujoco(py::module::import("mujoco"));
-
-  const py::list mujoco_path = mujoco.attr("__path__");
-  if (mujoco_path.empty()) {
-    RaiseRuntimeErrorWithMessage("mujoco.__path__ is empty");
-    return nullptr;
-  }
-  const auto path = py::str(mujoco_path[0]).cast<std::string>();
-  // Not all MuJoCo releases have __version__, they do have mj_versionString.
-  const auto version = mujoco.attr("mj_versionString")().cast<std::string>();
-  const std::string dso_path = path + "/libmujoco.so." + version;
-
-  struct stat buffer;
-  if (stat(dso_path.c_str(), &buffer) != 0) {
-    RaiseRuntimeErrorWithMessage(absl::Substitute(
-        "LoadMjLibFromDmComtrol: Cannot access mujoco library file "
-        "$0, error: $1",
-        dso_path, strerror(errno)));
-    return nullptr;
-  }
-  py::print("Loading mujoco from " + dso_path);
-
-  // Create the MjLib object by dlopen'ing the DSO.
-  return new MjLib(dso_path, RTLD_NOW);
-}
-
-const MjLib* LoadMjLibFromDmControl() {
-  py::gil_scoped_acquire gil;
-  return LoadMjLibFromDmControlStatically();  // Copybara changes to dynamic.
-}
-
 // Helper function for getting an mjModel object from a py::handle.
 const mjModel* GetmjModelOrRaise(py::handle obj) {
   const std::string class_name =

cpp/controllers_py/pybind_utils.h

@@ -24,18 +24,6 @@ namespace dm_robotics::internal {
 // Raises a `RuntimeError` exception in Python with the message `message`.
 void RaiseRuntimeErrorWithMessage(absl::string_view message);
 
-// Loads a new MjLib object and activates it via dm_control's Python
-// infrastructure. The user takes ownership of the allocated object. The
-// recommended usage is to use this through the static-in-a-function pattern to
-// instantiate a global singleton that is never deallocated.
-//
-// This is a helper-function for re-using the libmujoco.so and license file used
-// by dm_control. It must only be used if dm_control is available; it will
-// not work for binaries that are missing the symbols from the Python
-// interpreter that come bundled with dm_control, causing the program to
-// crash.
-const MjLib* LoadMjLibFromDmControl();
-
 // Extracts an mjModel pointer from a Python handle to a dm_control `MjModel`
 // object. Raises a `RuntimeError` exception in Python if it fails to extract
 // an mjModel object from the handle.

cpp/least_squares_qp/testing/CMakeLists.txt

@@ -19,6 +19,7 @@ set(HDRS
   ${CMAKE_CURRENT_SOURCE_DIR}/include/dm_robotics/least_squares_qp/testing/matchers.h
 )
 add_library(dmr_lsqp_testing)
+set_target_properties(dmr_lsqp_testing PROPERTIES LINKER_LANGUAGE CXX)
 target_sources(dmr_lsqp_testing PUBLIC ${HDRS})
 target_include_directories(dmr_lsqp_core
   PUBLIC