Merge branch 'main' into ce

Author: thowell

CMakeLists.txt

@@ -60,6 +60,16 @@ set(MUJOCO_MPC_MUJOCO_GIT_TAG
     CACHE STRING "Git revision for MuJoCo."
 )
 
+set(MUJOCO_MPC_MENAGERIE_GIT_TAG
+    94ea114fa8c60a0fd542c8e1ffeb997204acbea2
+    CACHE STRING "Git revision for MuJoCo Menagerie."
+)
+
+set(MUJOCO_MPC_DM_CONTROL_GIT_TAG
+    774f46182140106e22725914aad3c6299ed91edd
+    CACHE STRING "Git revision for dm_control."
+)
+
 findorfetch(
   USE_SYSTEM_PACKAGE
   OFF
@@ -160,14 +170,25 @@ unset(BUILD_SHARED_LIBS_OLD)
 FetchContent_Declare(
   menagerie
   GIT_REPOSITORY https://github.com/google-deepmind/mujoco_menagerie.git
-  GIT_TAG main
+  GIT_TAG ${MUJOCO_MPC_MENAGERIE_GIT_TAG}
 )
 
 FetchContent_GetProperties(menagerie)
 if(NOT menagerie_POPULATED)
   FetchContent_Populate(menagerie)
 endif()
 
+FetchContent_Declare(
+  dm_control
+  GIT_REPOSITORY https://github.com/google-deepmind/dm_control.git
+  GIT_TAG ${MUJOCO_MPC_DM_CONTROL_GIT_TAG}
+)
+
+FetchContent_GetProperties(dm_control)
+if(NOT dm_control_POPULATED)
+  FetchContent_Populate(dm_control)
+endif()
+
 if(NOT TARGET lodepng)
   FetchContent_Declare(
     lodepng

docs/CONTRIBUTING.md

@@ -32,7 +32,13 @@ This code adheres to the [Google style](https://google.github.io/styleguide/).
 
 ## New Tasks
 
-When submitting a PR for a new task using models from [MuJoCo Menagerie](https://github.com/google-deepmind/mujoco_menagerie), do not include assets directly. Instead, modify the task [CMakeLists](mjpc/tasks/CMakeLists.txt) to copy these assets to the build binary.
+When submitting a PR for a new task that depends on third-party models, including from [MuJoCo Menagerie](https://github.com/google-deepmind/mujoco_menagerie) and [dm_control](https://github.com/google-deepmind/dm_control), do not include the xml model or assets in the task directly. Instead, modify the task [CMakeLists](mjpc/tasks/CMakeLists.txt) to copy the xml model and/or assets to the build binary.
+
+If the xml model needs to be modified, create a patch that is applied in the [CMakeLists](mjpc/tasks/CMakeLists.txt). A [patch](https://github.com/google-deepmind/mujoco_mpc/blob/main/mjpc/tasks/op3/op3.xml.patch) can be generated using the following command:
+```
+diff -u {original}.xml {modified}.xml > {modified}.xml.patch
+```
+The first three lines of the generated patch file will need to be be adapted for your use case. Please see an [example](https://github.com/google-deepmind/mujoco_mpc/blob/main/mjpc/tasks/op3/op3.xml.patch) for a template.
 
 ## Unit Tests
 

mjpc/CMakeLists.txt

@@ -38,6 +38,8 @@ add_library(
   tasks/tasks.h
   tasks/acrobot/acrobot.cc
   tasks/acrobot/acrobot.h
+  tasks/allegro/allegro.cc
+  tasks/allegro/allegro.h
   tasks/bimanual/bimanual.cc
   tasks/bimanual/bimanual.h
   tasks/cartpole/cartpole.cc
@@ -184,23 +186,33 @@ if(APPLE)
   target_link_libraries(mjpc "-framework Cocoa")
 endif()
 
-add_executable(
-  testspeed
+add_library(
+  libtestspeed STATIC
   testspeed_app.cc
   testspeed.h
   testspeed.cc
 )
 target_link_libraries(
-  testspeed
-  absl::flags
-  absl::flags_parse
+  libtestspeed
   absl::random_random
   absl::strings
   libmjpc
   mujoco::mujoco
   threadpool
   Threads::Threads
 )
+target_include_directories(libtestspeed PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/..)
+
+add_executable(
+  testspeed
+  testspeed_app.cc
+)
+target_link_libraries(
+  testspeed
+  libtestspeed
+  absl::flags
+  absl::flags_parse
+)
 target_include_directories(testspeed PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/..)
 target_compile_options(testspeed PUBLIC ${MJPC_COMPILE_OPTIONS})
 target_link_options(testspeed PRIVATE ${MJPC_LINK_OPTIONS})

mjpc/grpc/CMakeLists.txt

@@ -22,6 +22,12 @@ set(BUILD_SHARED_LIBS
 
 find_package(ZLIB REQUIRED)
 set(gRPC_ZLIB_PROVIDER "package" CACHE INTERNAL "")
+set(gRPC_BUILD_GRPC_CSHARP_PLUGIN OFF)
+set(gRPC_BUILD_GRPC_NODE_PLUGIN OFF)
+set(gRPC_BUILD_GRPC_OBJECTIVE_C_PLUGIN OFF)
+set(gRPC_BUILD_GRPC_PHP_PLUGIN OFF)
+set(gRPC_BUILD_GRPC_RUBY_PLUGIN OFF)
+set(RE2_BUILD_TESTING OFF)
 set(ZLIB_BUILD_EXAMPLES OFF)
 
 findorfetch(

mjpc/grpc/ui_agent_service.cc

@@ -35,12 +35,16 @@ namespace mjpc::agent_grpc {
 
 using ::agent::GetActionRequest;
 using ::agent::GetActionResponse;
-using ::agent::GetModeRequest;
-using ::agent::GetModeResponse;
+using ::agent::GetAllModesRequest;
+using ::agent::GetAllModesResponse;
+using ::agent::GetBestTrajectoryRequest;
+using ::agent::GetBestTrajectoryResponse;
 using ::agent::GetResidualsRequest;
 using ::agent::GetResidualsResponse;
 using ::agent::GetCostValuesAndWeightsRequest;
 using ::agent::GetCostValuesAndWeightsResponse;
+using ::agent::GetModeRequest;
+using ::agent::GetModeResponse;
 using ::agent::GetStateRequest;
 using ::agent::GetStateResponse;
 using ::agent::GetTaskParametersRequest;
@@ -222,6 +226,24 @@ grpc::Status UiAgentService::GetMode(grpc::ServerContext* context,
       });
 }
 
+grpc::Status UiAgentService::GetAllModes(grpc::ServerContext* context,
+                                         const GetAllModesRequest* request,
+                                         GetAllModesResponse* response) {
+  return RunBeforeStep(
+      context, [request, response](mjpc::Agent* agent, const mjModel* model,
+                                   mjData* data) {
+        return grpc_agent_util::GetAllModes(request, agent, response);
+      });
+}
+
+grpc::Status UiAgentService::GetBestTrajectory(
+    grpc::ServerContext* context, const GetBestTrajectoryRequest* request,
+    GetBestTrajectoryResponse* response) {
+  // TODO - Implement.
+  return {grpc::StatusCode::UNIMPLEMENTED,
+          "GetBestTrajectory is not implemented."};
+}
+
 grpc::Status UiAgentService::SetAnything(grpc::ServerContext* context,
                                          const SetAnythingRequest* request,
                                          SetAnythingResponse* response) {

mjpc/grpc/ui_agent_service.h

@@ -15,13 +15,16 @@
 #ifndef MJPC_MJPC_GRPC_UI_AGENT_SERVICE_H_
 #define MJPC_MJPC_GRPC_UI_AGENT_SERVICE_H_
 
+#include <absl/functional/any_invocable.h>
 #include <grpcpp/server_context.h>
 #include <grpcpp/support/status.h>
 #include <mujoco/mujoco.h>
 
+#include <mjpc/agent.h>
 #include <mjpc/grpc/agent.grpc.pb.h>
 #include <mjpc/grpc/agent.pb.h>
 #include <mjpc/simulate.h>  // mjpc fork
+#include <mjpc/states/state.h>
 #include <mjpc/utilities.h>
 
 namespace mjpc::agent_grpc {
@@ -95,6 +98,15 @@ class UiAgentService final : public agent::Agent::Service {
       const agent::GetModeRequest* request,
       agent::GetModeResponse* response) override;
 
+  grpc::Status GetAllModes(grpc::ServerContext* context,
+                           const agent::GetAllModesRequest* request,
+                           agent::GetAllModesResponse* response) override;
+
+  grpc::Status GetBestTrajectory(
+      grpc::ServerContext* context,
+      const agent::GetBestTrajectoryRequest* request,
+      agent::GetBestTrajectoryResponse* response) override;
+
   grpc::Status SetAnything(grpc::ServerContext* context,
                            const agent::SetAnythingRequest* request,
                            agent::SetAnythingResponse* response) override;

mjpc/spline/spline.h

@@ -102,45 +102,41 @@ class TimeSpline {
     }
 
     // Copyable, Movable.
-    IteratorT<SplineType, NodeType>(
-        const IteratorT<SplineType, NodeType>& other) = default;
-    IteratorT<SplineType, NodeType>& operator=(
-        const IteratorT<SplineType, NodeType>& other) = default;
-    IteratorT<SplineType, NodeType>(IteratorT<SplineType, NodeType>&& other) =
-        default;
-    IteratorT<SplineType, NodeType>& operator=(
-        IteratorT<SplineType, NodeType>&& other) = default;
+    IteratorT(const IteratorT& other) = default;
+    IteratorT& operator=(const IteratorT& other) = default;
+    IteratorT(IteratorT&& other) = default;
+    IteratorT& operator=(IteratorT&& other) = default;
 
     reference operator*() { return node_; }
 
     pointer operator->() { return &node_; }
     pointer operator->() const { return &node_; }
 
-    IteratorT<SplineType, NodeType>& operator++() {
+    IteratorT& operator++() {
       ++index_;
       node_ = index_ == spline_->Size() ? NodeType() : spline_->NodeAt(index_);
       return *this;
     }
 
-    IteratorT<SplineType, NodeType> operator++(int) {
-      IteratorT<SplineType, NodeType> tmp = *this;
+    IteratorT operator++(int) {
+      IteratorT tmp = *this;
       ++(*this);
       return tmp;
     }
 
-    IteratorT<SplineType, NodeType>& operator--() {
+    IteratorT& operator--() {
       --index_;
       node_ = spline_->NodeAt(index_);
       return *this;
     }
 
-    IteratorT<SplineType, NodeType> operator--(int) {
-      IteratorT<SplineType, NodeType> tmp = *this;
+    IteratorT operator--(int) {
+      IteratorT tmp = *this;
       --(*this);
       return tmp;
     }
 
-    IteratorT<SplineType, NodeType>& operator+=(difference_type n) {
+    IteratorT& operator+=(difference_type n) {
       if (n != 0) {
         index_ += n;
         node_ =
@@ -149,29 +145,25 @@ class TimeSpline {
       return *this;
     }
 
-    IteratorT<SplineType, NodeType>& operator-=(difference_type n) {
-      return *this += -n;
-    }
+    IteratorT& operator-=(difference_type n) { return *this += -n; }
 
-    IteratorT<SplineType, NodeType> operator+(difference_type n) const {
-      IteratorT<SplineType, NodeType> tmp(*this);
+    IteratorT operator+(difference_type n) const {
+      IteratorT tmp(*this);
       tmp += n;
       return tmp;
     }
 
-    IteratorT<SplineType, NodeType> operator-(difference_type n) const {
-      IteratorT<SplineType, NodeType> tmp(*this);
+    IteratorT operator-(difference_type n) const {
+      IteratorT tmp(*this);
       tmp -= n;
       return tmp;
     }
 
-    friend IteratorT<SplineType, NodeType> operator+(
-        difference_type n, const IteratorT<SplineType, NodeType>& it) {
+    friend IteratorT operator+(difference_type n, const IteratorT& it) {
       return it + n;
     }
 
-    friend difference_type operator-(const IteratorT<SplineType, NodeType>& x,
-                                     const IteratorT<SplineType, NodeType>& y) {
+    friend difference_type operator-(const IteratorT& x, const IteratorT& y) {
       CHECK_EQ(x.spline_, y.spline_)
           << "Comparing iterators from different splines";
       if (x != y) return (x.index_ - y.index_);
@@ -180,35 +172,29 @@ class TimeSpline {
 
     NodeType operator[](difference_type n) const { return *(*this + n); }
 
-    friend bool operator==(const IteratorT<SplineType, NodeType>& x,
-                           const IteratorT<SplineType, NodeType>& y) {
+    friend bool operator==(const IteratorT& x, const IteratorT& y) {
       return x.spline_ == y.spline_ && x.index_ == y.index_;
     }
 
-    friend bool operator!=(const IteratorT<SplineType, NodeType>& x,
-                           const IteratorT<SplineType, NodeType>& y) {
+    friend bool operator!=(const IteratorT& x, const IteratorT& y) {
       return !(x == y);
     }
 
-    friend bool operator<(const IteratorT<SplineType, NodeType>& x,
-                          const IteratorT<SplineType, NodeType>& y) {
+    friend bool operator<(const IteratorT& x, const IteratorT& y) {
       CHECK_EQ(x.spline_, y.spline_)
           << "Comparing iterators from different splines";
       return x.index_ < y.index_;
     }
 
-    friend bool operator>(const IteratorT<SplineType, NodeType>& x,
-                          const IteratorT<SplineType, NodeType>& y) {
+    friend bool operator>(const IteratorT& x, const IteratorT& y) {
       return y < x;
     }
 
-    friend bool operator<=(const IteratorT<SplineType, NodeType>& x,
-                           const IteratorT<SplineType, NodeType>& y) {
+    friend bool operator<=(const IteratorT& x, const IteratorT& y) {
       return !(y < x);
     }
 
-    friend bool operator>=(const IteratorT<SplineType, NodeType>& x,
-                           const IteratorT<SplineType, NodeType>& y) {
+    friend bool operator>=(const IteratorT& x, const IteratorT& y) {
       return !(x < y);
     }