Merge branch 'main' into ce

Author: erez-tom

.gitignore

@@ -16,6 +16,7 @@
 .vs/
 # Exclude temporary folders
 *.egg-info/
+.eggs/
 build/
 build_cmake/
 # Exclude macOS folder attributes

README.md

@@ -110,7 +110,7 @@ We provide a simple Python API for MJPC. This API is still experimental and expe
 - [direct.py](python/mujoco_mpc/direct.py) for available methods for direct optimization.
 
 ## Installing via Pip
-The MJPC Python module can be installed with:
+First, build MJPC (see above), then the MJPC Python module can be installed with:
 ```sh
 python "${MUJOCO_MPC_ROOT}/python/${API}.py" install
 ```

python/mujoco_mpc/agent_test.py

@@ -46,7 +46,7 @@ class AgentTest(parameterized.TestCase):
   def test_set_task_parameters(self):
     model_path = (
         pathlib.Path(__file__).parent.parent.parent
-        / "mjpc/tasks/cartpole/task.xml"
+        / "build/mjpc/tasks/cartpole/task.xml"
     )
     model = mujoco.MjModel.from_xml_path(str(model_path))
     with agent_lib.Agent(task_id="Cartpole", model=model) as agent:
@@ -56,7 +56,7 @@ def test_set_task_parameters(self):
   def test_set_subprocess_working_dir(self):
     model_path = (
         pathlib.Path(__file__).parent.parent.parent
-        / "mjpc/tasks/cartpole/task.xml"
+        / "build/mjpc/tasks/cartpole/task.xml"
     )
     model = mujoco.MjModel.from_xml_path(str(model_path))
 
@@ -76,7 +76,7 @@ def test_set_subprocess_working_dir(self):
   def test_step_env_with_planner(self):
     model_path = (
         pathlib.Path(__file__).parent.parent.parent
-        / "mjpc/tasks/particle/task_timevarying.xml"
+        / "build/mjpc/tasks/particle/task_timevarying.xml"
     )
     model = mujoco.MjModel.from_xml_path(str(model_path))
     data = mujoco.MjData(model)
@@ -109,7 +109,7 @@ def test_step_env_with_planner(self):
   def test_env_initialized_to_home_keyframe(self):
     model_path = (
         pathlib.Path(__file__).parent.parent.parent
-        / "mjpc/tasks/quadruped/task_flat.xml"
+        / "build/mjpc/tasks/quadruped/task_flat.xml"
     )
     model = mujoco.MjModel.from_xml_path(str(model_path))
 
@@ -126,7 +126,7 @@ def test_action_averaging_doesnt_change_state(self, nominal):
     # out physics, but the API should be implemented not to mutate the state
     model_path = (
         pathlib.Path(__file__).parent.parent.parent
-        / "mjpc/tasks/cartpole/task.xml"
+        / "build/mjpc/tasks/cartpole/task.xml"
     )
     model = mujoco.MjModel.from_xml_path(str(model_path))
     data = mujoco.MjData(model)
@@ -161,7 +161,7 @@ def test_action_averaging_improves_control(self):
     # expect action averaging to be a bit better
     model_path = (
         pathlib.Path(__file__).parent.parent.parent
-        / "mjpc/tasks/cartpole/task.xml"
+        / "build/mjpc/tasks/cartpole/task.xml"
     )
     model = mujoco.MjModel.from_xml_path(str(model_path))
     data = mujoco.MjData(model)
@@ -213,7 +213,7 @@ def test_stepping_on_agent_side(self):
     """Test an alternative way of stepping the physics, on the agent side."""
     model_path = (
         pathlib.Path(__file__).parent.parent.parent
-        / "mjpc/tasks/cartpole/task.xml"
+        / "build/mjpc/tasks/cartpole/task.xml"
     )
     model = mujoco.MjModel.from_xml_path(str(model_path))
     data = mujoco.MjData(model)
@@ -246,7 +246,7 @@ def test_stepping_on_agent_side(self):
   def test_set_cost_weights(self):
     model_path = (
         pathlib.Path(__file__).parent.parent.parent
-        / "mjpc/tasks/cartpole/task.xml"
+        / "build/mjpc/tasks/cartpole/task.xml"
     )
     model = mujoco.MjModel.from_xml_path(str(model_path))
 
@@ -271,7 +271,7 @@ def test_set_cost_weights(self):
   def test_get_cost_weights(self):
     model_path = (
         pathlib.Path(__file__).parent.parent.parent
-        / "mjpc/tasks/cartpole/task.xml"
+        / "build/mjpc/tasks/cartpole/task.xml"
     )
     model = mujoco.MjModel.from_xml_path(str(model_path))
 
@@ -310,7 +310,7 @@ def test_get_cost_weights(self):
   def test_set_state_with_lists(self):
     model_path = (
         pathlib.Path(__file__).parent.parent.parent
-        / "mjpc/tasks/particle/task_timevarying.xml"
+        / "build/mjpc/tasks/particle/task_timevarying.xml"
     )
     model = mujoco.MjModel.from_xml_path(str(model_path))
     data = mujoco.MjData(model)
@@ -330,7 +330,7 @@ def test_set_state_with_lists(self):
   def test_get_set_default_mode(self):
     model_path = (
         pathlib.Path(__file__).parent.parent.parent
-        / "mjpc/tasks/cartpole/task.xml"
+        / "build/mjpc/tasks/cartpole/task.xml"
     )
     model = mujoco.MjModel.from_xml_path(str(model_path))
     with agent_lib.Agent(task_id="Cartpole", model=model) as agent:
@@ -341,7 +341,7 @@ def test_get_set_default_mode(self):
   def test_get_set_mode(self):
     model_path = (
         pathlib.Path(__file__).parent.parent.parent
-        / "mjpc/tasks/quadruped/task_flat.xml"
+        / "build/mjpc/tasks/quadruped/task_flat.xml"
     )
     model = mujoco.MjModel.from_xml_path(str(model_path))
     with agent_lib.Agent(task_id="Quadruped Flat", model=model) as agent:
@@ -352,7 +352,7 @@ def test_get_set_mode(self):
   def test_get_all_modes(self):
     model_path = (
         pathlib.Path(__file__).parent.parent.parent
-        / "mjpc/tasks/quadruped/task_flat.xml"
+        / "build/mjpc/tasks/quadruped/task_flat.xml"
     )
     model = mujoco.MjModel.from_xml_path(str(model_path))
     with agent_lib.Agent(task_id="Quadruped Flat", model=model) as agent:
@@ -365,7 +365,7 @@ def test_get_all_modes(self):
   def test_set_mode_error(self):
     model_path = (
         pathlib.Path(__file__).parent.parent.parent
-        / "mjpc/tasks/quadruped/task_flat.xml"
+        / "build/mjpc/tasks/quadruped/task_flat.xml"
     )
     model = mujoco.MjModel.from_xml_path(str(model_path))
     with agent_lib.Agent(task_id="Quadruped Flat", model=model) as agent:
@@ -374,7 +374,7 @@ def test_set_mode_error(self):
   def test_set_task_parameters_from_another_agent(self):
     model_path = (
         pathlib.Path(__file__).parent.parent.parent
-        / "mjpc/tasks/cartpole/task.xml"
+        / "build/mjpc/tasks/cartpole/task.xml"
     )
     model = mujoco.MjModel.from_xml_path(str(model_path))
     with agent_lib.Agent(task_id="Cartpole", model=model) as agent:
@@ -393,7 +393,7 @@ def test_set_task_parameters_from_another_agent(self):
   def test_best_trajectory(self):
     model_path = (
         pathlib.Path(__file__).parent.parent.parent
-        / "mjpc/tasks/particle/task_timevarying.xml"
+        / "build/mjpc/tasks/particle/task_timevarying.xml"
     )
     model = mujoco.MjModel.from_xml_path(str(model_path))
     data = mujoco.MjData(model)
@@ -418,7 +418,7 @@ def test_best_trajectory(self):
   def test_set_mocap(self):
     model_path = (
         pathlib.Path(__file__).parent.parent.parent
-        / "mjpc/tasks/particle/task_timevarying.xml"
+        / "build/mjpc/tasks/particle/task_timevarying.xml"
     )
     model = mujoco.MjModel.from_xml_path(str(model_path))
     with agent_lib.Agent(task_id="ParticleFixed", model=model) as agent:

python/mujoco_mpc/ui_agent_test.py

@@ -48,7 +48,7 @@ def test_stepping_on_agent_side(self):
     """Test an alternative way of stepping the physics, on the agent side."""
     model_path = (
         pathlib.Path(__file__).parent.parent.parent
-        / "mjpc/tasks/cartpole/task.xml"
+        / "build/mjpc/tasks/cartpole/task.xml"
     )
     model = mujoco.MjModel.from_xml_path(str(model_path))
     data = mujoco.MjData(model)
@@ -67,7 +67,9 @@ def test_stepping_on_agent_side(self):
         data.qvel = state.qvel
         data.act = state.act
         data.mocap_pos = np.array(state.mocap_pos).reshape(data.mocap_pos.shape)
-        data.mocap_quat = np.array(state.mocap_quat).reshape(data.mocap_quat.shape)
+        data.mocap_quat = np.array(state.mocap_quat).reshape(
+            data.mocap_quat.shape
+        )
         data.userdata = np.array(state.userdata).reshape(data.userdata.shape)
         observations.append(get_observation(model, data))
 
@@ -79,7 +81,7 @@ def test_stepping_on_agent_side(self):
   def test_set_cost_weights(self):
     model_path = (
         pathlib.Path(__file__).parent.parent.parent
-        / "mjpc/tasks/cartpole/task.xml"
+        / "build/mjpc/tasks/cartpole/task.xml"
     )
     model = mujoco.MjModel.from_xml_path(str(model_path))
 
@@ -109,7 +111,7 @@ def test_set_cost_weights(self):
   def test_get_cost_weights(self):
     model_path = (
         pathlib.Path(__file__).parent.parent.parent
-        / "mjpc/tasks/cartpole/task.xml"
+        / "build/mjpc/tasks/cartpole/task.xml"
     )
     model = mujoco.MjModel.from_xml_path(str(model_path))
 
@@ -141,7 +143,7 @@ def test_get_cost_weights(self):
   def test_set_state_with_lists(self):
     model_path = (
         pathlib.Path(__file__).parent.parent.parent
-        / "mjpc/tasks/particle/task_timevarying.xml"
+        / "build/mjpc/tasks/particle/task_timevarying.xml"
     )
     model = mujoco.MjModel.from_xml_path(str(model_path))
     data = mujoco.MjData(model)
@@ -161,7 +163,7 @@ def test_set_state_with_lists(self):
   def test_set_get_mode(self):
     model_path = (
         pathlib.Path(__file__).parent.parent.parent
-        / "mjpc/tasks/cartpole/task.xml"
+        / "build/mjpc/tasks/cartpole/task.xml"
     )
     model = mujoco.MjModel.from_xml_path(str(model_path))
     with self.get_agent(task_id="Cartpole", model=model) as agent:
@@ -184,7 +186,7 @@ def test_get_all_modes(self):
   def test_get_set_mode(self):
     model_path = (
         pathlib.Path(__file__).parent.parent.parent
-        / "mjpc/tasks/quadruped/task_flat.xml"
+        / "build/mjpc/tasks/quadruped/task_flat.xml"
     )
     model = mujoco.MjModel.from_xml_path(str(model_path))
     with self.get_agent(task_id="Quadruped Flat", model=model) as agent:
@@ -195,7 +197,7 @@ def test_get_set_mode(self):
   def test_set_mode_error(self):
     model_path = (
         pathlib.Path(__file__).parent.parent.parent
-        / "mjpc/tasks/quadruped/task_flat.xml"
+        / "build/mjpc/tasks/quadruped/task_flat.xml"
     )
     model = mujoco.MjModel.from_xml_path(str(model_path))
     with self.get_agent(task_id="Quadruped Flat", model=model) as agent:

python/setup.py

@@ -149,7 +149,8 @@ def finalize_options(self):
     self.set_undefined_options("build_ext", ("build_lib", "build_lib"))
 
   def run(self):
-    mjpc_tasks_path = Path(__file__).parent.parent / "mjpc" / "tasks"
+    mjpc_tasks_path = Path(__file__).parent.parent / "build" / "mjpc" / "tasks"
+    assert mjpc_tasks_path.exists(), "Build MJPC before installing Python API"
     source_paths = (
       tuple(mjpc_tasks_path.rglob("*.xml"))
       + tuple(mjpc_tasks_path.rglob("*.png"))