Merge branch 'google-deepmind:main' into musculoskeletal_dog_creation

Author: vittorione94

dm_control/mjcf/physics_test.py

@@ -484,9 +484,9 @@ def test_write_to_ipos(self):
     second = physics.bind(entity2)
 
     # Initially both bodies should be 'simple' and 'sameframe'
-    self.assertEqual(first.simple, 1)
+    self.assertEqual(first.simple, 2)
     self.assertEqual(first.sameframe, 1)
-    self.assertEqual(second.simple, 1)
+    self.assertEqual(second.simple, 2)
     self.assertEqual(second.sameframe, 1)
 
     # Assigning to `ipos` should disable 'simple' and 'sameframe' only for that
@@ -495,7 +495,7 @@ def test_write_to_ipos(self):
     first.ipos = new_ipos
     self.assertEqual(first.simple, 0)
     self.assertEqual(first.sameframe, 0)
-    self.assertEqual(second.simple, 1)
+    self.assertEqual(second.simple, 2)
     self.assertEqual(second.sameframe, 1)
     # `xipos` should reflect the new position.
     np.testing.assert_array_equal(first.xipos, new_ipos)
@@ -518,9 +518,9 @@ def test_write_to_iquat(self):
     second = physics.bind(entity2)
 
     # Initially both bodies should be 'simple' and 'sameframe'
-    self.assertEqual(first.simple, 1)
+    self.assertEqual(first.simple, 2)
     self.assertEqual(first.sameframe, 1)
-    self.assertEqual(second.simple, 1)
+    self.assertEqual(second.simple, 2)
     self.assertEqual(second.sameframe, 1)
 
     # Assigning to `iquat` should disable 'simple' and 'sameframe' only for that
@@ -529,7 +529,7 @@ def test_write_to_iquat(self):
     first.iquat = new_iquat
     self.assertEqual(first.simple, 0)
     self.assertEqual(first.sameframe, 0)
-    self.assertEqual(second.simple, 1)
+    self.assertEqual(second.simple, 2)
     self.assertEqual(second.sameframe, 1)
     # `ximat` should reflect the new quaternion.
     np.testing.assert_allclose(first.ximat, self.quat2mat(new_iquat))

dm_control/mujoco/engine.py

@@ -61,7 +61,7 @@
 
 Contexts = collections.namedtuple('Contexts', ['gl', 'mujoco'])
 Selected = collections.namedtuple(
-    'Selected', ['body', 'geom', 'skin', 'world_position'])
+    'Selected', ['body', 'geom', 'flex', 'skin', 'world_position'])
 NamedIndexStructs = collections.namedtuple(
     'NamedIndexStructs', ['model', 'data'])
 Pose = collections.namedtuple(
@@ -937,12 +937,14 @@ def select(self, cursor_position):
     cursor_x, cursor_y = cursor_position
     pos = np.empty(3, np.double)
     geom_id_arr = np.intc([-1])
+    flex_id_arr = np.intc([-1])
     skin_id_arr = np.intc([-1])
     body_id = mujoco.mjv_select(self._physics.model.ptr, self._physics.data.ptr,
                                 self._scene_option.ptr, aspect_ratio, cursor_x,
                                 cursor_y, self._scene.ptr, pos, geom_id_arr,
-                                skin_id_arr)
+                                flex_id_arr, skin_id_arr)
     [geom_id] = geom_id_arr
+    [flex_id] = flex_id_arr
     [skin_id] = skin_id_arr
 
     # Validate IDs
@@ -954,6 +956,10 @@ def select(self, cursor_position):
       assert 0 <= geom_id < self._physics.model.ngeom
     else:
       geom_id = None
+    if flex_id != -1:
+      assert 0 <= flex_id < self._physics.model.nflex
+    else:
+      flex_id = None
     if skin_id != -1:
       assert 0 <= skin_id < self._physics.model.nskin
     else:
@@ -963,7 +969,12 @@ def select(self, cursor_position):
       pos = None
 
     return Selected(
-        body=body_id, geom=geom_id, skin=skin_id, world_position=pos)
+        body=body_id,
+        geom=geom_id,
+        flex=flex_id,
+        skin=skin_id,
+        world_position=pos,
+    )
 
 
 class MovableCamera(Camera):

dm_control/mujoco/testing/image_utils.py

@@ -203,7 +203,7 @@ def compute_rms(image1, image2):
   return np.sqrt(float(sum_of_squares) / abs_diff.size)
 
 
-def assert_images_close(expected, actual, tolerance=10.):
+def assert_images_close(expected, actual, tolerance=23.5):
   """Tests whether two images are almost equal.
 
   Args:

dm_control/mujoco/tutorial.ipynb

@@ -93,7 +93,7 @@
         "\"\"\")\n",
         "\n",
         "print('Installing dm_control...')\n",
-        "!pip install -q dm_control\u003e=1.0.14\n",
+        "!pip install -q dm_control\u003e=1.0.15\n",
         "\n",
         "# Configure dm_control to use the EGL rendering backend (requires GPU)\n",
         "%env MUJOCO_GL=egl\n",

dm_control/viewer/gui/base_test.py

@@ -33,7 +33,7 @@
 _EPSILON = 1e-7
 
 
-@mock.patch(base.__name__ + '.time')
+@mock.patch.object(base, 'time')
 class DoubleClickDetectorTest(absltest.TestCase):
 
   def setUp(self):

dm_control/viewer/renderer.py

@@ -494,6 +494,7 @@ def raycast(self, viewport, screen_pos):
     viewport_pos = viewport.screen_to_inverse_viewport(screen_pos)
     grab_world_pos = np.empty(3, dtype=np.double)
     selected_geom_id_arr = np.intc([-1])
+    selected_flex_id_arr = np.intc([-1])
     selected_skin_id_arr = np.intc([-1])
     selected_body_id = mujoco.mjv_select(
         self._model.ptr,
@@ -505,9 +506,14 @@ def raycast(self, viewport, screen_pos):
         self._scene.ptr,
         grab_world_pos,
         selected_geom_id_arr,
+        selected_flex_id_arr,
         selected_skin_id_arr,
     )
-    del selected_geom_id_arr, selected_skin_id_arr  # Unused.
+    del (
+        selected_geom_id_arr,
+        selected_skin_id_arr,
+        selected_flex_id_arr,
+    )  # Unused.
     if selected_body_id < 0:
       selected_body_id = _INVALID_BODY_INDEX
       grab_world_pos = None

dm_control/viewer/renderer_test.py

@@ -422,12 +422,25 @@ def initialize_camera(self, enable):
 
   def test_raycast_mapping_geom_to_body_id(self):
     def build_mjv_select(mock_body_id, mock_geom_id, mock_position):
+
       def mock_select(
-          m, d, vopt, aspectratio, relx, rely, scn, selpnt, geomid, skinid):
-        del m, d, vopt, aspectratio, relx, rely, scn, skinid  # Unused.
+          m,
+          d,
+          vopt,
+          aspectratio,
+          relx,
+          rely,
+          scn,
+          selpnt,
+          geomid,
+          flexid,
+          skinid,
+      ):
+        del m, d, vopt, aspectratio, relx, rely, scn, flexid, skinid  # Unused.
         selpnt[:] = mock_position
         geomid[:] = mock_geom_id
         return mock_body_id
+
       return mock_select
 
     geom_id = 0
@@ -444,9 +457,11 @@ def mock_select(
       np.testing.assert_array_equal(hit_world_pos, world_pos)
 
   def test_raycast_hitting_empty_space(self):
+
     def mock_select(
-        m, d, vopt, aspectratio, relx, rely, scn, selpnt, geomid, skinid):
-      del (m, d, vopt, aspectratio, relx, rely, scn, selpnt, geomid,
+        m, d, vopt, aspectratio, relx, rely, scn, selpnt, geomid, flexid, skinid
+    ):
+      del (m, d, vopt, aspectratio, relx, rely, scn, selpnt, geomid, flexid,
            skinid)  # Unused.
       mock_body_id = -1  # Nothing selected.
       return mock_body_id
@@ -459,13 +474,26 @@ def mock_select(
 
   def test_raycast_maps_coordinates_to_viewport_space(self):
     def build_mjv_select(expected_aspect_ratio, expected_viewport_pos):
+
       def mock_select(
-          m, d, vopt, aspectratio, relx, rely, scn, selpnt, geomid, skinid):
-        del m, d, vopt, scn, selpnt, geomid, skinid  # Unused.
+          m,
+          d,
+          vopt,
+          aspectratio,
+          relx,
+          rely,
+          scn,
+          selpnt,
+          geomid,
+          flexid,
+          skinid,
+      ):
+        del m, d, vopt, scn, selpnt, geomid, flexid, skinid  # Unused.
         self.assertEqual(expected_aspect_ratio, aspectratio)
         np.testing.assert_array_equal(expected_viewport_pos, [relx, rely])
         mock_body_id = 0
         return mock_body_id
+
       return mock_select
 
     viewport_pos = [.5, .5]

requirements.txt

@@ -1,22 +1,22 @@
-absl-py==1.4.0
+absl-py==2.0.0
 dm-env==1.6
 dm-tree==0.1.8
 glfw==1.12.0
-h5py==3.9.0
+h5py==3.10.0
 labmaze==1.0.6
 lxml==4.9.3
 mock==5.1.0
-mujoco==2.3.7
+mujoco==3.0.0
 nose==1.3.7
 nose-xunitmp==0.4.1
 numpy==1.24.4; python_version == '3.8'
-numpy==1.25.1; python_version >= '3.9'
-Pillow==10.0.0
+numpy==1.26.1; python_version >= '3.9'
+Pillow==10.1.0
 protobuf==3.19.4  # TensorFlow requires protobuf<3.20 (b/182876485)
 pyopengl==3.1.7
-pyparsing==3.1.0
+pyparsing==3.1.1
 requests==2.31.0
 scipy==1.10.1; python_version == '3.8'
-scipy==1.11.1; python_version >= '3.9'
-setuptools==68.0.0
-tqdm==4.65.0
+scipy==1.11.3; python_version >= '3.9'
+setuptools==68.2.2
+tqdm==4.66.0

setup.py

@@ -173,7 +173,7 @@ def is_excluded(s):
 
 setup(
     name='dm_control',
-    version='1.0.14',
+    version='1.0.15',
     description='Continuous control environments and MuJoCo Python bindings.',
     long_description="""
 # `dm_control`: DeepMind Infrastructure for Physics-Based Simulation.
@@ -201,7 +201,7 @@ def is_excluded(s):
         'glfw',
         'labmaze',
         'lxml',
-        'mujoco >= 2.3.7',
+        'mujoco >= 3.0.0',
         'numpy >= 1.9.0',
         'protobuf >= 3.19.4',  # TensorFlow requires protobuf<3.20 (b/182876485)
         'pyopengl >= 3.1.4',

tutorial.ipynb

@@ -93,7 +93,7 @@
         "\"\"\")\n",
         "\n",
         "print('Installing dm_control...')\n",
-        "!pip install -q dm_control\u003e=1.0.14\n",
+        "!pip install -q dm_control\u003e=1.0.15\n",
         "\n",
         "# Configure dm_control to use the EGL rendering backend (requires GPU)\n",
         "%env MUJOCO_GL=egl\n",