Merge branch 'main' into estimator_update

CMakeLists.txt

@@ -61,7 +61,7 @@ set(MUJOCO_MPC_MUJOCO_GIT_TAG
 )
 
 set(MUJOCO_MPC_MENAGERIE_GIT_TAG
-    8ef01e87fffaa8ec634a4826c5b2092733b2f3c8
+    8a5f659ac3607dc5adb988e0187f683fe0f4edf4
     CACHE STRING "Git revision for MuJoCo Menagerie."
 )
 

mjpc/tasks/CMakeLists.txt

@@ -162,6 +162,30 @@ add_custom_target(
           ${CMAKE_CURRENT_BINARY_DIR}/bimanual/aloha.xml
           <${CMAKE_CURRENT_SOURCE_DIR}/bimanual/aloha.patch
 
+  # MJX ALOHA
+  COMMAND ${CMAKE_COMMAND} -E copy
+          ${menagerie_SOURCE_DIR}/aloha/mjx_aloha.patch
+          ${CMAKE_CURRENT_BINARY_DIR}/bimanual/mjx_aloha.patch
+  COMMAND patch -o ${CMAKE_CURRENT_BINARY_DIR}/bimanual/mjx_aloha.xml
+          ${CMAKE_CURRENT_BINARY_DIR}/bimanual/aloha.xml
+          <${CMAKE_CURRENT_BINARY_DIR}/bimanual/mjx_aloha.patch
+  COMMAND ${CMAKE_COMMAND} -E copy
+          ${menagerie_SOURCE_DIR}/aloha/scene.xml
+          ${CMAKE_CURRENT_BINARY_DIR}/bimanual/scene.xml
+  COMMAND ${CMAKE_COMMAND} -E copy
+          ${menagerie_SOURCE_DIR}/aloha/mjx_scene.patch
+          ${CMAKE_CURRENT_BINARY_DIR}/bimanual/mjx_scene.patch
+  COMMAND patch -o ${CMAKE_CURRENT_BINARY_DIR}/bimanual/mjx_scene.xml
+          ${CMAKE_CURRENT_BINARY_DIR}/bimanual/scene.xml
+          <${CMAKE_CURRENT_BINARY_DIR}/bimanual/mjx_scene.patch
+
+  COMMAND ${CMAKE_COMMAND} -E copy
+          ${menagerie_SOURCE_DIR}/aloha/mjx_integrated_cartesian_actuators.patch
+          ${CMAKE_CURRENT_BINARY_DIR}/bimanual/mjx_integrated_cartesian_actuators.patch
+  COMMAND patch -o ${CMAKE_CURRENT_BINARY_DIR}/bimanual/mjx_integrated_cartesian_actuators.xml
+          ${CMAKE_CURRENT_BINARY_DIR}/bimanual/integrated_cartesian_actuators.xml
+          <${CMAKE_CURRENT_BINARY_DIR}/bimanual/mjx_integrated_cartesian_actuators.patch
+
   COMMAND ${CMAKE_COMMAND} -E copy
           ${menagerie_SOURCE_DIR}/robotis_op3/op3.xml
           ${CMAKE_CURRENT_BINARY_DIR}/op3/op3.xml

python/mujoco_mpc/demos/agent/cartpole.py

@@ -16,7 +16,6 @@
 import mediapy as media
 import mujoco
 import numpy as np
-import os
 import pathlib
 
 # set current directory: mujoco_mpc/python/mujoco_mpc
@@ -27,9 +26,9 @@
 # %%
 # model
 model_path = (
-        pathlib.Path(os.path.abspath("")).parent.parent.parent
-        / "mujoco_mpc/mjpc/tasks/cartpole/task.xml"
-    )
+    pathlib.Path(__file__).parent.parent.parent
+    / "../../build/mjpc/tasks/cartpole/task.xml"
+)
 model = mujoco.MjModel.from_xml_path(str(model_path))
 
 # data

python/mujoco_mpc/demos/agent/cartpole_gui.py

@@ -0,0 +1,35 @@
+# 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.
+
+import pathlib
+import mujoco
+from mujoco_mpc import agent as agent_lib
+
+# Cartpole model
+model_path = (
+    pathlib.Path(__file__).parent.parent.parent
+    / "../../build/mjpc/tasks/cartpole/task.xml"
+)
+model = mujoco.MjModel.from_xml_path(str(model_path))
+
+# Run GUI
+with agent_lib.Agent(
+    server_binary_path=pathlib.Path(agent_lib.__file__).parent
+    / "mjpc"
+    / "ui_agent_server",
+    task_id="Cartpole",
+    model=model,
+) as agent:
+  while True:
+    None