Ensures compatibility with MuJoCo 2.2.2

Author: DavidPL1

mujoco_ros/README.md

@@ -40,7 +40,7 @@ initial_joint_velocities:
 ___
 
 # Build Instructions
-1. Make sure MuJoCo is installed (the current build uses version 2.1.1) and runs on your machine.
+1. Make sure MuJoCo is installed (the current build uses version 2.2.2) and runs on your machine.
 2. Create a new ROS workspace or include this repository into an existing workspace.
 3. Before building, make sure that your compiler knows where to find the MuJoCo library, e.g. by running
 ```bash

mujoco_ros/THIRD_PARTY_NOTICES

@@ -1,4 +1,4 @@
-The mujoco_ros package is incorporates the MuJoCo Version 2.1.1 library.
+The mujoco_ros package is incorporates the MuJoCo Version 2.2.2 library.
 Its copyright and license information is included below.
 
 =========================  MuJoCo ============================================
@@ -19,7 +19,7 @@ limitations under the License.
 
 ---- MuJoCo Third Party Notice ----
 
-MuJoCo version 2.1.1 incorporates the following open-source libraries:
+MuJoCo version 2.2.2 incorporates the following open-source libraries:
 
   - libccd
   - Collisions

mujoco_ros/include/mujoco_ros/common_types.h

@@ -36,7 +36,7 @@
 
 #pragma once
 
-#include <mujoco.h>
+#include <mujoco/mujoco.h>
 
 static constexpr int kBufSize = 1000;
 

mujoco_ros/include/mujoco_ros/glfw_dispatch.h

@@ -0,0 +1,67 @@
+// Copyright 2022 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_SIMULATE_GLFW_DISPATCH_H_
+#define MUJOCO_SIMULATE_GLFW_DISPATCH_H_
+
+#include <GLFW/glfw3.h>
+
+namespace mujoco {
+// Dynamic dispatch table for GLFW functions required by Simulate.
+// This allows us to use GLFW without introducing a link-time dependency on the
+// library, which is useful e.g. when using GLFW via Python.
+struct Glfw
+{
+#define mjGLFW_DECLARE_SYMBOL(func) decltype(&::func) func
+	// go/keep-sorted start
+	mjGLFW_DECLARE_SYMBOL(glfwCreateWindow);
+	mjGLFW_DECLARE_SYMBOL(glfwGetCursorPos);
+	mjGLFW_DECLARE_SYMBOL(glfwGetFramebufferSize);
+	mjGLFW_DECLARE_SYMBOL(glfwGetKey);
+	mjGLFW_DECLARE_SYMBOL(glfwGetMonitorPhysicalSize);
+	mjGLFW_DECLARE_SYMBOL(glfwGetMouseButton);
+	mjGLFW_DECLARE_SYMBOL(glfwGetPrimaryMonitor);
+	mjGLFW_DECLARE_SYMBOL(glfwGetTime);
+	mjGLFW_DECLARE_SYMBOL(glfwGetVideoMode);
+	mjGLFW_DECLARE_SYMBOL(glfwGetWindowMonitor);
+	mjGLFW_DECLARE_SYMBOL(glfwGetWindowPos);
+	mjGLFW_DECLARE_SYMBOL(glfwGetWindowSize);
+	mjGLFW_DECLARE_SYMBOL(glfwGetWindowUserPointer);
+	mjGLFW_DECLARE_SYMBOL(glfwInit);
+	mjGLFW_DECLARE_SYMBOL(glfwMakeContextCurrent);
+	mjGLFW_DECLARE_SYMBOL(glfwPollEvents);
+	mjGLFW_DECLARE_SYMBOL(glfwSetClipboardString);
+	mjGLFW_DECLARE_SYMBOL(glfwSetCursorPosCallback);
+	mjGLFW_DECLARE_SYMBOL(glfwSetDropCallback);
+	mjGLFW_DECLARE_SYMBOL(glfwSetKeyCallback);
+	mjGLFW_DECLARE_SYMBOL(glfwSetMouseButtonCallback);
+	mjGLFW_DECLARE_SYMBOL(glfwSetScrollCallback);
+	mjGLFW_DECLARE_SYMBOL(glfwSetWindowMonitor);
+	mjGLFW_DECLARE_SYMBOL(glfwSetWindowRefreshCallback);
+	mjGLFW_DECLARE_SYMBOL(glfwSetWindowSizeCallback);
+	mjGLFW_DECLARE_SYMBOL(glfwSetWindowTitle);
+	mjGLFW_DECLARE_SYMBOL(glfwSetWindowUserPointer);
+	mjGLFW_DECLARE_SYMBOL(glfwSwapBuffers);
+	mjGLFW_DECLARE_SYMBOL(glfwSwapInterval);
+	mjGLFW_DECLARE_SYMBOL(glfwTerminate);
+	mjGLFW_DECLARE_SYMBOL(glfwWindowHint);
+	mjGLFW_DECLARE_SYMBOL(glfwWindowShouldClose);
+	// go/keep-sorted end
+#undef mjGLFW_DECLARE_SYMBOL
+};
+
+const struct Glfw &Glfw(void *dlhandle = nullptr);
+} // namespace mujoco
+
+#endif // MUJOCO_SIMULATE_GLFW_DISPATCH_H_

mujoco_ros/include/mujoco_ros/mujoco_sim.h

@@ -59,7 +59,7 @@
 #include <condition_variable>
 #include <ros/ros.h>
 
-#include "mjxmacro.h"
+#include <mujoco/mjxmacro.h>
 
 #include <mujoco_ros/common_types.h>
 #include <mujoco_ros/mujoco_env.h>

mujoco_ros/include/mujoco_ros/uitools.h

@@ -16,7 +16,7 @@
 #define MUJOCO_UITOOLS_H_
 
 #include "GLFW/glfw3.h"
-#include "mujoco.h"
+#include <mujoco/mujoco.h>
 
 // this is a C-API
 #if defined(__cplusplus)

mujoco_ros/src/glfw_dispatch.cc

@@ -0,0 +1,127 @@
+// Copyright 2022 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <mujoco_ros/glfw_dispatch.h>
+
+#ifdef mjGLFW_DYNAMIC_SYMBOLS
+#ifdef _MSC_VER
+#include <windows.h>
+#include <libloaderapi.h>
+#else
+#include <dlfcn.h>
+#endif
+#endif
+
+#include <cstdlib>
+#include <iostream>
+
+namespace mujoco {
+
+// return dispatch table for glfw functions
+const struct Glfw &Glfw(void *dlhandle)
+{
+	{
+		// set static init_dlhandle
+		static const void *init_dlhandle = dlhandle;
+
+		// check that not already initialized
+		if (dlhandle && dlhandle != init_dlhandle) {
+			std::cerr << "dlhandle is specified when GLFW dispatch table is already "
+			             "initialized\n";
+			abort();
+		}
+	}
+
+	// make and intialize dispatch table
+	static const struct Glfw glfw = [&]() { // create and call constructor
+		// allocate
+		struct Glfw glfw;
+
+		// load glfw dynamically
+#ifdef mjGLFW_DYNAMIC_SYMBOLS
+#ifdef _MSC_VER
+		if (!dlhandle)
+			dlhandle = LoadLibraryA("glfw3.dll");
+		if (!dlhandle) {
+			std::cerr << "cannot obtain a shared object handle\n";
+			abort();
+		}
+#define mjGLFW_RESOLVE_SYMBOL(func) \
+	glfw.func = reinterpret_cast<decltype(glfw.func)>(GetProcAddress(reinterpret_cast<HMODULE>(dlhandle), #func))
+#else
+		if (!dlhandle)
+			dlhandle = dlopen("nullptr", RTLD_GLOBAL | RTLD_NOW);
+		if (!dlhandle) {
+			std::cerr << "cannot obtain a shared object handle\n";
+			abort();
+		}
+#define mjGLFW_RESOLVE_SYMBOL(func) glfw.func = reinterpret_cast<decltype(glfw.func)>(dlsym(dlhandle, #func))
+#endif
+#else
+#define mjGLFW_RESOLVE_SYMBOL(func) glfw.func = &::func
+#endif
+
+		// set pointers in dispatch table
+#define mjGLFW_INITIALIZE_SYMBOL(func)         \
+	if (!(mjGLFW_RESOLVE_SYMBOL(func))) {       \
+		std::cerr << "cannot dlsym " #func "\n"; \
+		abort();                                 \
+	}
+
+		// go/keep-sorted start
+		mjGLFW_INITIALIZE_SYMBOL(glfwCreateWindow);
+		mjGLFW_INITIALIZE_SYMBOL(glfwGetCursorPos);
+		mjGLFW_INITIALIZE_SYMBOL(glfwGetFramebufferSize);
+		mjGLFW_INITIALIZE_SYMBOL(glfwGetKey);
+		mjGLFW_INITIALIZE_SYMBOL(glfwGetMonitorPhysicalSize);
+		mjGLFW_INITIALIZE_SYMBOL(glfwGetMouseButton);
+		mjGLFW_INITIALIZE_SYMBOL(glfwGetPrimaryMonitor);
+		mjGLFW_INITIALIZE_SYMBOL(glfwGetTime);
+		mjGLFW_INITIALIZE_SYMBOL(glfwGetVideoMode);
+		mjGLFW_INITIALIZE_SYMBOL(glfwGetWindowMonitor);
+		mjGLFW_INITIALIZE_SYMBOL(glfwGetWindowPos);
+		mjGLFW_INITIALIZE_SYMBOL(glfwGetWindowSize);
+		mjGLFW_INITIALIZE_SYMBOL(glfwGetWindowUserPointer);
+		mjGLFW_INITIALIZE_SYMBOL(glfwInit);
+		mjGLFW_INITIALIZE_SYMBOL(glfwMakeContextCurrent);
+		mjGLFW_INITIALIZE_SYMBOL(glfwPollEvents);
+		mjGLFW_INITIALIZE_SYMBOL(glfwSetClipboardString);
+		mjGLFW_INITIALIZE_SYMBOL(glfwSetCursorPosCallback);
+		mjGLFW_INITIALIZE_SYMBOL(glfwSetDropCallback);
+		mjGLFW_INITIALIZE_SYMBOL(glfwSetKeyCallback);
+		mjGLFW_INITIALIZE_SYMBOL(glfwSetMouseButtonCallback);
+		mjGLFW_INITIALIZE_SYMBOL(glfwSetScrollCallback);
+		mjGLFW_INITIALIZE_SYMBOL(glfwSetWindowMonitor);
+		mjGLFW_INITIALIZE_SYMBOL(glfwSetWindowRefreshCallback);
+		mjGLFW_INITIALIZE_SYMBOL(glfwSetWindowSizeCallback);
+		mjGLFW_INITIALIZE_SYMBOL(glfwSetWindowTitle);
+		mjGLFW_INITIALIZE_SYMBOL(glfwSetWindowUserPointer);
+		mjGLFW_INITIALIZE_SYMBOL(glfwSwapBuffers);
+		mjGLFW_INITIALIZE_SYMBOL(glfwSwapInterval);
+		mjGLFW_INITIALIZE_SYMBOL(glfwTerminate);
+		mjGLFW_INITIALIZE_SYMBOL(glfwWindowHint);
+		mjGLFW_INITIALIZE_SYMBOL(glfwWindowShouldClose);
+		// go/keep-sorted end
+
+#undef mjGLFW_INITIALIZE_SYMBOL
+
+#if defined(mjGLFW_DYNAMIC_SYMBOLS) && !defined(_MSC_VER)
+		dlclose(dlhandle);
+#endif
+
+		return glfw;
+	}();
+	return glfw;
+}
+} // namespace mujoco

mujoco_ros/src/mujoco_sim.cpp

@@ -1843,7 +1843,7 @@ void makePhysics(mjModelPtr model, int oldstate)
 {
 	int i;
 
-	mjuiDef defPhysics[]     = { { mjITEM_SECTION, "Physics", oldstate, NULL, "AP" },
+	mjuiDef defPhysics[]     = { { mjITEM_SECTION, "Physics", oldstate, nullptr, "AP" },
                             { mjITEM_SELECT, "Integrator", 2, &(model->opt.integrator), "Euler\nRK4" },
                             { mjITEM_SELECT, "Collision", 2, &(model->opt.collision), "All\nPair\nDynamic" },
                             { mjITEM_SELECT, "Cone", 2, &(model->opt.cone), "Pyramidal\nElliptic" },
@@ -1878,7 +1878,7 @@ void makePhysics(mjModelPtr model, int oldstate)
 	mjui_add(&ui0_, defPhysics);
 
 	// add flags programmatically
-	mjuiDef defFlag[] = { { mjITEM_CHECKINT, "", 2, NULL, "" }, { mjITEM_END } };
+	mjuiDef defFlag[] = { { mjITEM_CHECKINT, "", 2, nullptr, "" }, { mjITEM_END } };
 	for (i = 0; i < mjNDISABLE; i++) {
 		mju::strcpy_arr(defFlag[0].name, mjDISABLESTRING[i]);
 		defFlag[0].pdata = settings_.disable + i;
@@ -1901,12 +1901,12 @@ void makeRendering(mjModelPtr model, int oldstate)
 	int i, j;
 
 	mjuiDef defRendering[] = {
-		{ mjITEM_SECTION, "Rendering", oldstate, NULL, "AR" },
+		{ mjITEM_SECTION, "Rendering", oldstate, nullptr, "AR" },
 		{ mjITEM_SELECT, "Camera", 2, &(settings_.camera), "Free\nTracking" },
 		{ mjITEM_SELECT, "Label", 2, &(vopt_.label),
 		  "None\nBody\nJoint\nGeom\nSite\nCamera\nLight\nTendon\nActuator\nConstraint\nSkin\nSelection\nSel Pnt\nForce" },
 		{ mjITEM_SELECT, "Frame", 2, &(vopt_.frame), "None\nBody\nGeom\nSite\nCamera\nLight\nWorld" },
-		{ mjITEM_BUTTON, "Print camera", 2, NULL, "" },
+		{ mjITEM_BUTTON, "Copy camera", 2, nullptr, "" },
 		{
 		    mjITEM_SEPARATOR,
 		    "Model Elements",
@@ -1939,7 +1939,7 @@ void makeRendering(mjModelPtr model, int oldstate)
 	mjui_add(&ui0_, defRendering);
 
 	// add flags programmatically
-	mjuiDef defFlag[] = { { mjITEM_CHECKBYTE, "", 2, NULL, "" }, { mjITEM_END } };
+	mjuiDef defFlag[] = { { mjITEM_CHECKBYTE, "", 2, nullptr, "" }, { mjITEM_END } };
 	for (i = 0; i < mjNVISFLAG; i++) {
 		// set name, remove "&"
 		mju::strcpy_arr(defFlag[0].name, mjVISSTRING[i][0]);
@@ -1958,7 +1958,8 @@ void makeRendering(mjModelPtr model, int oldstate)
 	mjui_add(&ui0_, defOpenGL);
 	for (i = 0; i < mjNRNDFLAG; i++) {
 		mju::strcpy_arr(defFlag[0].name, mjRNDSTRING[i][0]);
-		mju::sprintf_arr(defFlag[0].other, " %s", mjRNDSTRING[i][2]);
+		if (mjRNDSTRING[i][2][0])
+			mju::sprintf_arr(defFlag[0].other, " %s", mjRNDSTRING[i][2]);
 		defFlag[0].pdata = scn_.flags + i;
 		mjui_add(&ui0_, defFlag);
 	}
@@ -1967,7 +1968,7 @@ void makeRendering(mjModelPtr model, int oldstate)
 // Make group section UI
 void makeGroup(int oldstate)
 {
-	mjuiDef defGroup[] = { { mjITEM_SECTION, "Group enable", oldstate, NULL, "AG" },
+	mjuiDef defGroup[] = { { mjITEM_SECTION, "Group enable", oldstate, nullptr, "AG" },
 		                    { mjITEM_SEPARATOR, "Geom groups", 1 },
 		                    { mjITEM_CHECKBYTE, "Geom 0", 2, vopt_.geomgroup, " 0" },
 		                    { mjITEM_CHECKBYTE, "Geom 1", 2, vopt_.geomgroup + 1, " 1" },
@@ -2014,10 +2015,10 @@ void makeJoint(mjModelPtr model, mjDataPtr data, int oldstate)
 	int i;
 
 	mjuiDef defJoint[] = {
-		{ mjITEM_SECTION, "Joint", oldstate, NULL, "AJ" },
+		{ mjITEM_SECTION, "Joint", oldstate, nullptr, "AJ" },
 		{ mjITEM_END },
 	};
-	mjuiDef defSlider[] = { { mjITEM_SLIDERNUM, "", 2, NULL, "0 1" }, { mjITEM_END } };
+	mjuiDef defSlider[] = { { mjITEM_SLIDERNUM, "", 2, nullptr, "0 1" }, { mjITEM_END } };
 
 	// add section
 	mjui_add(&ui1_, defJoint);
@@ -2061,10 +2062,10 @@ void makeControl(mjModelPtr model, mjDataPtr data, int oldstate)
 {
 	int i;
 
-	mjuiDef defControl[] = { { mjITEM_SECTION, "Control", oldstate, NULL, "AC" },
+	mjuiDef defControl[] = { { mjITEM_SECTION, "Control", oldstate, nullptr, "AC" },
 		                      { mjITEM_BUTTON, "Clear all", 2 },
 		                      { mjITEM_END } };
-	mjuiDef defSlider[]  = { { mjITEM_SLIDERNUM, "", 2, NULL, "0 1" }, { mjITEM_END } };
+	mjuiDef defSlider[]  = { { mjITEM_SLIDERNUM, "", 2, nullptr, "0 1" }, { mjITEM_END } };
 
 	// Add section
 	mjui_add(&ui1_, defControl);