Merge branch 'main' of git@github.com:CommonWealthRobotics/mujoco-java.git into kh/update-to-3.x.x

Author: madhephaestus

.github/workflows/release.yml

@@ -7,7 +7,7 @@ on:
 
 jobs:
   linux:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-20.04
     steps:
     - name: Checkout
       uses: actions/checkout@v1

.gitignore

@@ -13,6 +13,11 @@ build
 *.class*
 *jni*.cpp
 bin
-src/main/resources/*
+src/main/resources/linux*
+src/main/resources/windows*
+src/main/resources/macosx-x*
+src/main/java/mujoco/*.h
+
+*.DS_Store*
 cppbuild
 *hs_err_*.log

README.md

@@ -1,12 +1,28 @@
 # mujoco-java
-Java JNI binding for mujoco physics system
+
+Java JNI binding for [mujoco physics system](https://github.com/google-deepmind/mujoco)
+
+# Platforms
+
+This library supports
+
+* Windows x86_64
+* Linux x86_64
+* MacOS x86_64
+* MacOS arm64 (M1, M2, M3)
+
+# Examples
+
+An example of loading a MuJoCo model and display in JavaFX 3d:
+
+https://github.com/madhephaestus/MuJoCoTest/releases 
+
+Examples are designed to run in [Bowler Studio](http://commonwealthrobotics.com)
 
 # Maven
 
 MuJoCo-Java is published on Maven Central via Sonatype. 
 
-![](https://img.shields.io/nexus/r/https/oss.sonatype.org/com.neuronrobotics/mujoco-java.svg?style=flat)
-
 Hosting is in:
 
 ```
@@ -19,7 +35,7 @@ Maven:
 <dependency>
   <groupId>com.neuronrobotics</groupId>
   <artifactId>mujoco-java</artifactId>
-  <version>VERSION_FROM_BADGE</version>
+  <version>2.2.0-pre.11</version>
   <type>module</type>
 </dependency>
 ```
@@ -31,7 +47,7 @@ repositories {
 }
 
 dependencies {
-	implementation group: 'com.neuronrobotics', name: 'mujoco-java', version: 'VERSION_FROM_BADGE'
+	implementation group: 'com.neuronrobotics', name: 'mujoco-java', version: '2.2.0-pre.11'
 }
 ```
 
@@ -43,7 +59,7 @@ installing VC++ redist from:
 https://www.microsoft.com/en-gb/download/details.aspx?id=48145
 ```
 
-# HOWTO set up build
+# HOWTO set up Publish
 
 1. Export your gpg private key from the system that you have created it.
     1. Find your key-id (using `gpg --list-secret-keys --keyid-format=long`)

build-linux.sh

@@ -42,10 +42,11 @@ ls $BUILDDIR/
 cd $JAVADIR
 
 echo "JavaCPP configs:"
-java -jar $SCRIPT_DIR/javacpp-platform-$JAVACPP_VER-bin/javacpp.jar -Dcompiler.includepath=$BUILDDIR/include/ -print properties.includepath
+$JAVA_HOME/bin/java -jar $SCRIPT_DIR/javacpp-platform-$JAVACPP_VER-bin/javacpp.jar -Dcompiler.includepath=$BUILDDIR/include/ -print properties.includepath
 
-java -jar $SCRIPT_DIR/javacpp-platform-$JAVACPP_VER-bin/javacpp.jar  org/mujoco/MuJoCoConfig.java
-java -jar $SCRIPT_DIR/javacpp-platform-$JAVACPP_VER-bin/javacpp.jar -copylibs -copyresources -Xcompiler "-I$JAVADIR" -Xcompiler "-L$JAVADIR" org/mujoco/MuJoCoLib.java
+$JAVA_HOME/bin/java -jar $SCRIPT_DIR/javacpp-platform-$JAVACPP_VER-bin/javacpp.jar  org/mujoco/MuJoCoConfig.java
+echo "Start compile \n\n"
+$JAVA_HOME/bin/java -jar $SCRIPT_DIR/javacpp-platform-$JAVACPP_VER-bin/javacpp.jar  -copylibs -copyresources -Xcompiler "-no-pie"  -Xcompiler "-I$JAVADIR" -Xcompiler "-L$JAVADIR" org/mujoco/MuJoCoLib.java
 LIBPATH=$PWD/../resources/$TYPE/
 mkdir -p $SCRIPT_DIR/src/main/resources/
 

build-mac-m1.sh

@@ -0,0 +1,83 @@
+#!/bin/bash
+bash --version
+g++ --version
+echo "Mac M1 Build"
+VER=$(cat mujocoRelease.txt)
+
+TYPE=macosx-arm64
+ARCHIVE=mujoco-$VER-macos-universal2.dmg
+URL=https://github.com/deepmind/mujoco/releases/download/$VER/$ARCHIVE
+echo "$URL"
+SCRIPT_DIR=$( pwd )
+BUILDDIR=/tmp/
+set -e
+
+mkdir -p $BUILDDIR
+if [ -f "$BUILDDIR$ARCHIVE" ]; then
+    echo "$BUILDDIR$ARCHIVE exists."
+else
+	rm -rf $BUILDDIR/mujoco*
+	curl -L  --location-trusted https://github.com/deepmind/mujoco/releases/download/$VER/$ARCHIVE -o $BUILDDIR/$ARCHIVE
+	cd $BUILDDIR
+	mkdir mujoco
+	cd mujoco
+	hdiutil attach  ../$ARCHIVE
+	find /Volumes/MuJoCo/ -name '*.dylib'
+	mkdir $BUILDDIR/mujoco/include
+	cp -R /Volumes/MuJoCo/mujoco.framework/Headers/ $BUILDDIR/mujoco/include/mujoco
+    mkdir $BUILDDIR/mujoco/lib/
+    cp /Volumes/MuJoCo/mujoco.framework/Versions/A/libmujoco.$VER.dylib $BUILDDIR/mujoco/lib/libmujoco.dylib
+	
+	echo $BUILDDIR/mujoco/
+	ls -al $BUILDDIR/mujoco/
+	cd /tmp
+	echo /tmp
+	ls -al
+	cd $SCRIPT_DIR/
+fi
+echo "Include"
+ls $BUILDDIR/mujoco/include/
+ls $BUILDDIR/mujoco/include/mujoco/
+echo "Lib"
+ls $BUILDDIR/mujoco/lib/
+
+
+JAVACPP_VER=1.5.7
+JAVACPPDIR=javacpp-platform-$JAVACPP_VER-bin
+JAVACPP=$JAVACPPDIR.zip
+if [ -f "$JAVACPP" ]; then
+    echo "$JAVACPP exists."
+else
+	curl -L  --location-trusted  https://github.com/bytedeco/javacpp/releases/download/$JAVACPP_VER/$JAVACPP -o $JAVACPP
+	unzip $JAVACPP
+	echo "JavaCPP:"
+	ls -al $JAVACPPDIR
+	cd $SCRIPT_DIR/
+	
+fi
+JAVADIR=$SCRIPT_DIR/src/main/java/
+cd $SCRIPT_DIR/src/main/java/
+cp $BUILDDIR/mujoco/lib/* $JAVADIR/
+echo "Moving headers "
+rm -rf $JAVADIR/mujoco/
+cp -r $BUILDDIR/mujoco/include/mujoco $JAVADIR/
+java -jar $SCRIPT_DIR/javacpp-platform-$JAVACPP_VER-bin/javacpp.jar  org/mujoco/MuJoCoConfig.java
+java -jar $SCRIPT_DIR/javacpp-platform-$JAVACPP_VER-bin/javacpp.jar -copylibs -copyresources -Xcompiler "-I$JAVADIR" -Xcompiler "-L$JAVADIR" org/mujoco/MuJoCoLib.java
+
+LIBPATH=$PWD/../resources/$TYPE/
+mkdir -p $SCRIPT_DIR/src/main/resources/
+rm -rf $JAVADIR../resources/$TYPE
+find $SCRIPT_DIR|grep $TYPE
+mv $JAVADIR/org/mujoco/$TYPE/ $JAVADIR../resources/
+cp $BUILDDIR/mujoco/lib/* $JAVADIR../resources/$TYPE/
+
+echo "ls -al $JAVADIR../resources/"
+ls -al $JAVADIR../resources/
+
+cd $SCRIPT_DIR/
+echo "Resource Files: "
+ls -al $JAVADIR../resources/*
+ls -al $JAVADIR../resources/$TYPE
+./gradlew jar  --stacktrace test
+
+

src/main/java/libmujoco.dylib

@@ -0,0 +1,8 @@
+package org.mujoco;
+
+import org.mujoco.MuJoCoLib.mjData_;
+import org.mujoco.MuJoCoLib.mjModel_;
+
+public interface IMujocoController {
+	public void controlStep(mjData_ data,mjModel_ model);
+}

src/main/java/org/mujoco/IMujocoController.java

@@ -7,20 +7,29 @@
 import java.net.URL;
 
 import org.bytedeco.javacpp.BytePointer;
+import org.bytedeco.javacpp.IntPointer;
 import org.mujoco.MuJoCoLib.mjData;
 import org.mujoco.MuJoCoLib.mjData_;
 import org.mujoco.MuJoCoLib.mjModel;
 import org.mujoco.MuJoCoLib.mjModel_;
+import org.mujoco.MuJoCoLib.mjOption_;
 import org.mujoco.MuJoCoLib.mjVFS;
 
 public class MuJoCoModelManager {
 	MuJoCoLib lib = new MuJoCoLib();
 
 	private mjModel m;
 	private mjData d;
-	private mjModel_ maccessable;
-	private mjData_ daccessable;
+	private mjModel_ model;
+	private mjData_ data;
+	private mjOption_ opt;
+	private IMujocoController controller = null;
 
+	private BytePointer modelNames;
+
+	private IntPointer jointNameIndexes;
+
+	private IntPointer bodyNameIndex;
 	public MuJoCoModelManager(File config){
 		loadFromFile(config);
 	}
@@ -44,8 +53,46 @@ private void loadFromFile(File config) {
 		d = MuJoCoLib.mj_makeData(m);
 		setModel(new mjModel_(m));
 		setData(new mjData_(d));
+		setOpt(new mjOption_(getModel().opt()));
+		setModelNames(model.names());
+		jointNameIndexes = model.name_jntadr();
+		bodyNameIndex = model.name_bodyadr();
+	}
+	public double getCurrentSimulationTimeSeconds() {
+		return data.time();
+	}
+	public int getNumberOfJoints() {
+		return model.njnt();
+	}
+	public String getJointName(int i) {
+		if(i<0)
+			throw new IndexOutOfBoundsException("Joint index must be positive or zero");
+		if(i>=getNumberOfJoints()) {
+			throw new IndexOutOfBoundsException("Joint index must be less than "+i);
+		}
+		BytePointer byp = modelNames.getPointer(jointNameIndexes.getPointer(i).get());
+		return byp.getString();
+	}
+	public int getNumberOfBodys() {
+		return model.nbody();
+	}
+	public String getBodyName(int i) {
+		if(i<0)
+			throw new IndexOutOfBoundsException("Body index must be positive or zero");
+		if(i>=getNumberOfBodys()) {
+			throw new IndexOutOfBoundsException("Body index must be less than "+i);
+		}
+		BytePointer byp = modelNames.getPointer(bodyNameIndex.getPointer(i).get());
+		return byp.getString();
 	}
 
+	
+	public double getTimestepSeconds() {
+		return getOpt().timestep();
+	}
+	public long getTimestepMilliSeconds() {
+		return (long)(getTimestepSeconds()*1000);
+	}
 	public void close() {
 		MuJoCoLib.mj_deleteData(d);
 		MuJoCoLib.mj_deleteModel(m);
@@ -55,31 +102,33 @@ public void close() {
 	 * @return the maccessable
 	 */
 	public mjModel_ getModel() {
-		return maccessable;
+		return model;
 	}
 
 	/**
 	 * @param maccessable the maccessable to set
 	 */
 	private void setModel(mjModel_ maccessable) {
-		this.maccessable = maccessable;
+		this.model = maccessable;
 	}
 
 	/**
 	 * @return the daccessable
 	 */
 	public mjData_ getData() {
-		return daccessable;
+		return data;
 	}
 
 	/**
 	 * @param daccessable the daccessable to set
 	 */
 	public void setData(mjData_ daccessable) {
-		this.daccessable = daccessable;
+		this.data = daccessable;
 	}
 	public void step() {
 		stepOne();
+		if(controller!=null)
+			controller.controlStep(data, model);
 		stepTwo();
 	}
 	public void stepOne() {
@@ -88,4 +137,40 @@ public void stepOne() {
 	public void stepTwo() {
 		MuJoCoLib.mj_step2(m, d);
 	}
+	/**
+	 * @return the opt
+	 */
+	public mjOption_ getOpt() {
+		return opt;
+	}
+	/**
+	 * @param opt the opt to set
+	 */
+	public void setOpt(mjOption_ opt) {
+		this.opt = opt;
+	}
+	/**
+	 * @return the controller
+	 */
+	public IMujocoController getController() {
+		return controller;
+	}
+	/**
+	 * @param controller the controller to set
+	 */
+	public void setController(IMujocoController controller) {
+		this.controller = controller;
+	}
+	/**
+	 * @return the modelNames
+	 */
+	public BytePointer getModelNames() {
+		return modelNames;
+	}
+	/**
+	 * @param modelNames the modelNames to set
+	 */
+	public void setModelNames(BytePointer modelNames) {
+		this.modelNames = modelNames;
+	}
 }