Merge branch 'main' into ce

Author: thowell

cmake/MujocoLinkOptions.cmake

@@ -23,7 +23,7 @@ function(get_mujoco_extra_link_options OUTPUT_VAR)
     set(EXTRA_LINK_OPTIONS)
 
     if(WIN32)
-      set(CMAKE_REQUIRED_FLAGS "-fuse-ld=lld-link")
+      set(CMAKE_REQUIRED_LINK_OPTIONS "-fuse-ld=lld-link")
       check_c_source_compiles("int main() {}" SUPPORTS_LLD)
       if(SUPPORTS_LLD)
         set(EXTRA_LINK_OPTIONS
@@ -34,24 +34,24 @@ function(get_mujoco_extra_link_options OUTPUT_VAR)
         )
       endif()
     else()
-      set(CMAKE_REQUIRED_FLAGS "-fuse-ld=lld")
+      set(CMAKE_REQUIRED_LINK_OPTIONS "-fuse-ld=lld")
       check_c_source_compiles("int main() {}" SUPPORTS_LLD)
       if(SUPPORTS_LLD)
         set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -fuse-ld=lld)
       else()
-        set(CMAKE_REQUIRED_FLAGS "-fuse-ld=gold")
+        set(CMAKE_REQUIRED_LINK_OPTIONS "-fuse-ld=gold")
         check_c_source_compiles("int main() {}" SUPPORTS_GOLD)
         if(SUPPORTS_GOLD)
           set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -fuse-ld=gold)
         endif()
       endif()
 
-      set(CMAKE_REQUIRED_FLAGS ${EXTRA_LINK_OPTIONS} "-Wl,--gc-sections")
+      set(CMAKE_REQUIRED_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} "-Wl,--gc-sections")
       check_c_source_compiles("int main() {}" SUPPORTS_GC_SECTIONS)
       if(SUPPORTS_GC_SECTIONS)
         set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -Wl,--gc-sections)
       else()
-        set(CMAKE_REQUIRED_FLAGS ${EXTRA_LINK_OPTIONS} "-Wl,-dead_strip")
+        set(CMAKE_REQUIRED_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} "-Wl,-dead_strip")
         check_c_source_compiles("int main() {}" SUPPORTS_DEAD_STRIP)
         if(SUPPORTS_DEAD_STRIP)
           set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -Wl,-dead_strip)

mjpc/CMakeLists.txt

@@ -40,6 +40,8 @@ add_library(
   tasks/acrobot/acrobot.h
   tasks/cartpole/cartpole.cc
   tasks/cartpole/cartpole.h
+  tasks/cube/solve.cc
+  tasks/cube/solve.h
   tasks/fingers/fingers.cc
   tasks/fingers/fingers.h
   tasks/hand/hand.cc
@@ -54,6 +56,8 @@ add_library(
   tasks/manipulation/common.h
   tasks/manipulation/manipulation.cc
   tasks/manipulation/manipulation.h
+  tasks/op3/stand.cc
+  tasks/op3/stand.h
   tasks/panda/panda.cc
   tasks/panda/panda.h
   tasks/particle/particle.cc

mjpc/grpc/CMakeLists.txt

@@ -37,7 +37,7 @@ findorfetch(
 
 find_package(ZLIB REQUIRED)
 set(gRPC_ZLIB_PROVIDER "package" CACHE INTERNAL "")
-
+set(ZLIB_BUILD_EXAMPLES OFF)
 set(_PROTOBUF_LIBPROTOBUF libprotobuf)
 set(_REFLECTION grpc++_reflection)
 set(_PROTOBUF_PROTOC $<TARGET_FILE:protoc>)

mjpc/main.cc

@@ -47,6 +47,6 @@ int main(int argc, char** argv) {
 #endif
   absl::ParseCommandLine(argc, argv);
 
-  mjpc::StartApp(mjpc::GetTasks(), 6);  // start with manipulation bring
+  mjpc::StartApp(mjpc::GetTasks(), 14);  // start with quadruped flat
   return 0;
 }

mjpc/planners/cross_entropy/planner.h

@@ -84,6 +84,11 @@ class CrossEntropyPlanner : public Planner {
   void Plots(mjvFigure* fig_planner, mjvFigure* fig_timer, int planner_shift,
              int timer_shift, int planning, int* shift) override;
 
+  // return number of parameters optimized by planner
+  int NumParameters() override {
+    return policy.num_spline_points * policy.model->nu;
+  };
+
   // ----- members ----- //
   mjModel* model;
   const Task* task;

mjpc/planners/gradient/planner.h

@@ -88,6 +88,11 @@ class GradientPlanner : public Planner {
   void Plots(mjvFigure* fig_planner, mjvFigure* fig_timer, int planner_shift,
              int timer_shift, int planning, int* shift) override;
 
+  // return number of parameters optimized by planner
+  int NumParameters() override {
+    return policy.num_spline_points * policy.model->nu;
+  };
+
   // ----- members ----- //
   mjModel* model;
   const Task* task;

mjpc/planners/ilqg/planner.cc

@@ -165,6 +165,9 @@ void iLQGPlanner::NominalTrajectory(int horizon, ThreadPool& pool) {
   if (num_trajectory_ == 0) {
     return;
   }
+  // set policy trajectory horizon
+  policy.trajectory.horizon = horizon;
+  
   // resize data for rollouts
   ResizeMjData(model, pool.NumThreads());
 

mjpc/planners/ilqg/planner.h

@@ -71,6 +71,11 @@ class iLQGPlanner : public Planner {
   void Plots(mjvFigure* fig_planner, mjvFigure* fig_timer, int planner_shift,
              int timer_shift, int planning, int* shift) override;
 
+  // return number of parameters optimized by planner
+  int NumParameters() override {
+    return policy.trajectory.dim_action * (policy.trajectory.horizon - 1);
+  };
+
   // single iLQG iteration
   void Iteration(int horizon, ThreadPool& pool);
 
@@ -85,8 +90,6 @@ class iLQGPlanner : public Planner {
 
   void UpdateNumTrajectoriesFromGUI();
 
-  //
-
   // ----- members ----- //
   mjModel* model;
   const Task* task;

mjpc/planners/ilqs/planner.h

@@ -81,6 +81,11 @@ class iLQSPlanner : public Planner {
   void Plots(mjvFigure* fig_planner, mjvFigure* fig_timer, int planner_shift,
              int timer_shift, int planning, int* shift) override;
 
+  // return number of parameters optimized by planner
+  int NumParameters() override {
+    return sampling.NumParameters() + ilqg.NumParameters();
+  };
+
   // ----- planners ----- //
   SamplingPlanner sampling;
   iLQGPlanner ilqg;

mjpc/planners/planner.h

@@ -71,6 +71,9 @@ class Planner {
                      int planner_shift, int timer_shift, int planning,
                      int* shift) = 0;
 
+  // return number of parameters optimized by planner
+  virtual int NumParameters() = 0;
+
   std::vector<UniqueMjData> data_;
   void ResizeMjData(const mjModel* model, int num_threads);
 };