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Merge pull request #290 from google-deepmind/deepmind
Merge deepmind branch into main
2 parents 20e5030 + a19e7e3 commit 67b8b5e

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17 files changed

+134
-91
lines changed

17 files changed

+134
-91
lines changed

‎CMakeLists.txt‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -61,7 +61,7 @@ set(MUJOCO_MPC_MUJOCO_GIT_TAG
6161
)
6262

6363
set(MUJOCO_MPC_MENAGERIE_GIT_TAG
64-
aef3ee5c07ea51506e893a62fd832773ff0162c8
64+
94ea114fa8c60a0fd542c8e1ffeb997204acbea2
6565
CACHE STRING "Git revision for MuJoCo Menagerie."
6666
)
6767

‎mjpc/CMakeLists.txt‎

Lines changed: 15 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -186,23 +186,33 @@ if(APPLE)
186186
target_link_libraries(mjpc "-framework Cocoa")
187187
endif()
188188

189-
add_executable(
190-
testspeed
189+
add_library(
190+
libtestspeed STATIC
191191
testspeed_app.cc
192192
testspeed.h
193193
testspeed.cc
194194
)
195195
target_link_libraries(
196-
testspeed
197-
absl::flags
198-
absl::flags_parse
196+
libtestspeed
199197
absl::random_random
200198
absl::strings
201199
libmjpc
202200
mujoco::mujoco
203201
threadpool
204202
Threads::Threads
205203
)
204+
target_include_directories(libtestspeed PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/..)
205+
206+
add_executable(
207+
testspeed
208+
testspeed_app.cc
209+
)
210+
target_link_libraries(
211+
testspeed
212+
libtestspeed
213+
absl::flags
214+
absl::flags_parse
215+
)
206216
target_include_directories(testspeed PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/..)
207217
target_compile_options(testspeed PUBLIC ${MJPC_COMPILE_OPTIONS})
208218
target_link_options(testspeed PRIVATE ${MJPC_LINK_OPTIONS})

‎mjpc/grpc/ui_agent_service.cc‎

Lines changed: 24 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -35,12 +35,16 @@ namespace mjpc::agent_grpc {
3535

3636
using ::agent::GetActionRequest;
3737
using ::agent::GetActionResponse;
38-
using ::agent::GetModeRequest;
39-
using ::agent::GetModeResponse;
38+
using ::agent::GetAllModesRequest;
39+
using ::agent::GetAllModesResponse;
40+
using ::agent::GetBestTrajectoryRequest;
41+
using ::agent::GetBestTrajectoryResponse;
4042
using ::agent::GetResidualsRequest;
4143
using ::agent::GetResidualsResponse;
4244
using ::agent::GetCostValuesAndWeightsRequest;
4345
using ::agent::GetCostValuesAndWeightsResponse;
46+
using ::agent::GetModeRequest;
47+
using ::agent::GetModeResponse;
4448
using ::agent::GetStateRequest;
4549
using ::agent::GetStateResponse;
4650
using ::agent::GetTaskParametersRequest;
@@ -222,6 +226,24 @@ grpc::Status UiAgentService::GetMode(grpc::ServerContext* context,
222226
});
223227
}
224228

229+
grpc::Status UiAgentService::GetAllModes(grpc::ServerContext* context,
230+
const GetAllModesRequest* request,
231+
GetAllModesResponse* response) {
232+
return RunBeforeStep(
233+
context, [request, response](mjpc::Agent* agent, const mjModel* model,
234+
mjData* data) {
235+
return grpc_agent_util::GetAllModes(request, agent, response);
236+
});
237+
}
238+
239+
grpc::Status UiAgentService::GetBestTrajectory(
240+
grpc::ServerContext* context, const GetBestTrajectoryRequest* request,
241+
GetBestTrajectoryResponse* response) {
242+
// TODO - Implement.
243+
return {grpc::StatusCode::UNIMPLEMENTED,
244+
"GetBestTrajectory is not implemented."};
245+
}
246+
225247
grpc::Status UiAgentService::SetAnything(grpc::ServerContext* context,
226248
const SetAnythingRequest* request,
227249
SetAnythingResponse* response) {

‎mjpc/grpc/ui_agent_service.h‎

Lines changed: 12 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -15,13 +15,16 @@
1515
#ifndef MJPC_MJPC_GRPC_UI_AGENT_SERVICE_H_
1616
#define MJPC_MJPC_GRPC_UI_AGENT_SERVICE_H_
1717

18+
#include <absl/functional/any_invocable.h>
1819
#include <grpcpp/server_context.h>
1920
#include <grpcpp/support/status.h>
2021
#include <mujoco/mujoco.h>
2122

23+
#include <mjpc/agent.h>
2224
#include <mjpc/grpc/agent.grpc.pb.h>
2325
#include <mjpc/grpc/agent.pb.h>
2426
#include <mjpc/simulate.h> // mjpc fork
27+
#include <mjpc/states/state.h>
2528
#include <mjpc/utilities.h>
2629

2730
namespace mjpc::agent_grpc {
@@ -95,6 +98,15 @@ class UiAgentService final : public agent::Agent::Service {
9598
const agent::GetModeRequest* request,
9699
agent::GetModeResponse* response) override;
97100

101+
grpc::Status GetAllModes(grpc::ServerContext* context,
102+
const agent::GetAllModesRequest* request,
103+
agent::GetAllModesResponse* response) override;
104+
105+
grpc::Status GetBestTrajectory(
106+
grpc::ServerContext* context,
107+
const agent::GetBestTrajectoryRequest* request,
108+
agent::GetBestTrajectoryResponse* response) override;
109+
98110
grpc::Status SetAnything(grpc::ServerContext* context,
99111
const agent::SetAnythingRequest* request,
100112
agent::SetAnythingResponse* response) override;

‎mjpc/spline/spline.h‎

Lines changed: 24 additions & 38 deletions
Original file line numberDiff line numberDiff line change
@@ -102,45 +102,41 @@ class TimeSpline {
102102
}
103103

104104
// Copyable, Movable.
105-
IteratorT<SplineType, NodeType>(
106-
const IteratorT<SplineType, NodeType>& other) = default;
107-
IteratorT<SplineType, NodeType>& operator=(
108-
const IteratorT<SplineType, NodeType>& other) = default;
109-
IteratorT<SplineType, NodeType>(IteratorT<SplineType, NodeType>&& other) =
110-
default;
111-
IteratorT<SplineType, NodeType>& operator=(
112-
IteratorT<SplineType, NodeType>&& other) = default;
105+
IteratorT(const IteratorT& other) = default;
106+
IteratorT& operator=(const IteratorT& other) = default;
107+
IteratorT(IteratorT&& other) = default;
108+
IteratorT& operator=(IteratorT&& other) = default;
113109

114110
reference operator*() { return node_; }
115111

116112
pointer operator->() { return &node_; }
117113
pointer operator->() const { return &node_; }
118114

119-
IteratorT<SplineType, NodeType>& operator++() {
115+
IteratorT& operator++() {
120116
++index_;
121117
node_ = index_ == spline_->Size() ? NodeType() : spline_->NodeAt(index_);
122118
return *this;
123119
}
124120

125-
IteratorT<SplineType, NodeType> operator++(int) {
126-
IteratorT<SplineType, NodeType> tmp = *this;
121+
IteratorT operator++(int) {
122+
IteratorT tmp = *this;
127123
++(*this);
128124
return tmp;
129125
}
130126

131-
IteratorT<SplineType, NodeType>& operator--() {
127+
IteratorT& operator--() {
132128
--index_;
133129
node_ = spline_->NodeAt(index_);
134130
return *this;
135131
}
136132

137-
IteratorT<SplineType, NodeType> operator--(int) {
138-
IteratorT<SplineType, NodeType> tmp = *this;
133+
IteratorT operator--(int) {
134+
IteratorT tmp = *this;
139135
--(*this);
140136
return tmp;
141137
}
142138

143-
IteratorT<SplineType, NodeType>& operator+=(difference_type n) {
139+
IteratorT& operator+=(difference_type n) {
144140
if (n != 0) {
145141
index_ += n;
146142
node_ =
@@ -149,29 +145,25 @@ class TimeSpline {
149145
return *this;
150146
}
151147

152-
IteratorT<SplineType, NodeType>& operator-=(difference_type n) {
153-
return *this += -n;
154-
}
148+
IteratorT& operator-=(difference_type n) { return *this += -n; }
155149

156-
IteratorT<SplineType, NodeType> operator+(difference_type n) const {
157-
IteratorT<SplineType, NodeType> tmp(*this);
150+
IteratorT operator+(difference_type n) const {
151+
IteratorT tmp(*this);
158152
tmp += n;
159153
return tmp;
160154
}
161155

162-
IteratorT<SplineType, NodeType> operator-(difference_type n) const {
163-
IteratorT<SplineType, NodeType> tmp(*this);
156+
IteratorT operator-(difference_type n) const {
157+
IteratorT tmp(*this);
164158
tmp -= n;
165159
return tmp;
166160
}
167161

168-
friend IteratorT<SplineType, NodeType> operator+(
169-
difference_type n, const IteratorT<SplineType, NodeType>& it) {
162+
friend IteratorT operator+(difference_type n, const IteratorT& it) {
170163
return it + n;
171164
}
172165

173-
friend difference_type operator-(const IteratorT<SplineType, NodeType>& x,
174-
const IteratorT<SplineType, NodeType>& y) {
166+
friend difference_type operator-(const IteratorT& x, const IteratorT& y) {
175167
CHECK_EQ(x.spline_, y.spline_)
176168
<< "Comparing iterators from different splines";
177169
if (x != y) return (x.index_ - y.index_);
@@ -180,35 +172,29 @@ class TimeSpline {
180172

181173
NodeType operator[](difference_type n) const { return *(*this + n); }
182174

183-
friend bool operator==(const IteratorT<SplineType, NodeType>& x,
184-
const IteratorT<SplineType, NodeType>& y) {
175+
friend bool operator==(const IteratorT& x, const IteratorT& y) {
185176
return x.spline_ == y.spline_ && x.index_ == y.index_;
186177
}
187178

188-
friend bool operator!=(const IteratorT<SplineType, NodeType>& x,
189-
const IteratorT<SplineType, NodeType>& y) {
179+
friend bool operator!=(const IteratorT& x, const IteratorT& y) {
190180
return !(x == y);
191181
}
192182

193-
friend bool operator<(const IteratorT<SplineType, NodeType>& x,
194-
const IteratorT<SplineType, NodeType>& y) {
183+
friend bool operator<(const IteratorT& x, const IteratorT& y) {
195184
CHECK_EQ(x.spline_, y.spline_)
196185
<< "Comparing iterators from different splines";
197186
return x.index_ < y.index_;
198187
}
199188

200-
friend bool operator>(const IteratorT<SplineType, NodeType>& x,
201-
const IteratorT<SplineType, NodeType>& y) {
189+
friend bool operator>(const IteratorT& x, const IteratorT& y) {
202190
return y < x;
203191
}
204192

205-
friend bool operator<=(const IteratorT<SplineType, NodeType>& x,
206-
const IteratorT<SplineType, NodeType>& y) {
193+
friend bool operator<=(const IteratorT& x, const IteratorT& y) {
207194
return !(y < x);
208195
}
209196

210-
friend bool operator>=(const IteratorT<SplineType, NodeType>& x,
211-
const IteratorT<SplineType, NodeType>& y) {
197+
friend bool operator>=(const IteratorT& x, const IteratorT& y) {
212198
return !(x < y);
213199
}
214200

‎mjpc/tasks/bimanual/task.xml‎

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -51,7 +51,6 @@
5151
"0 -0.96 1.16 0 -0.3 0 0.002 0.002
5252
0 -0.96 1.16 0 -0.3 0 0.002 0.002
5353
0.1 0.2 0.3 1 0 0 0"
54-
act ="-0.1 0 0 0 0 0 0.01 0.1 0 0 0 0 0 0.01"
5554
ctrl="-0.1 0 0 0 0 0 0.01 0.1 0 0 0 0 0 0.01"/>
5655
</keyframe>
5756

‎mjpc/tasks/cartpole/task.xml‎

Lines changed: 3 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -44,4 +44,7 @@
4444
<framepos name="position" objtype="site" objname="tip"/>
4545
<framelinvel name="velocity" objtype="site" objname="tip"/>
4646
</sensor>
47+
<keyframe>
48+
<key name="home" qpos="1 0" />
49+
</keyframe>
4750
</mujoco>

‎mjpc/tasks/humanoid/stand/stand.cc‎

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -17,7 +17,6 @@
1717
#include <string>
1818

1919
#include <mujoco/mujoco.h>
20-
#include "mjpc/task.h"
2120
#include "mjpc/utilities.h"
2221

2322

‎mjpc/tasks/quadrotor/quadrotor.h‎

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -15,6 +15,7 @@
1515
#ifndef MJPC_TASKS_QUADROTOR_QUADROTOR_H_
1616
#define MJPC_TASKS_QUADROTOR_QUADROTOR_H_
1717

18+
#include <memory>
1819
#include <string>
1920
#include <mujoco/mujoco.h>
2021
#include "mjpc/task.h"
@@ -51,7 +52,7 @@ class Quadrotor : public Task {
5152
ResidualFn* InternalResidual() override { return &residual_; }
5253

5354
private:
54-
int current_mode_;
55+
int current_mode_ = 0;
5556
ResidualFn residual_;
5657
};
5758
} // namespace mjpc

‎mjpc/tasks/swimmer/swimmer.cc‎

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -18,7 +18,6 @@
1818

1919
#include <absl/random/random.h>
2020
#include <mujoco/mujoco.h>
21-
#include "mjpc/task.h"
2221
#include "mjpc/utilities.h"
2322

2423
namespace mjpc {

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