Build mujoco from source code

.github/workflows/release.yml

@@ -1,10 +1,10 @@
 name: Release PyPI Wheel
 
-# on: [push, pull_request]
-on:
-  push:
-    branches:
-      - main
+on: [push, pull_request]
+# on:
+#   push:
+#     branches:
+#       - main
 
 jobs:
   release:

envpool/mujoco/BUILD

@@ -17,13 +17,6 @@ genrule(
     cmd = "mkdir -p $(OUTS) && cp -r $(SRCS) $(OUTS)",
 )
 
-genrule(
-    name = "gen_mujoco_so",
-    srcs = ["@mujoco//:mujoco_so"],
-    outs = ["libmujoco.so.2.2.1"],
-    cmd = "cp $< $@",
-)
-
 cc_library(
     name = "mujoco_gym_env",
     hdrs = [
@@ -109,7 +102,6 @@ py_library(
     srcs = ["dmc/__init__.py"],
     data = [
         ":gen_mujoco_dmc_xml",
-        ":gen_mujoco_so",
         ":mujoco_dmc_envpool.so",
     ],
     deps = ["//envpool/python:api"],
@@ -120,7 +112,6 @@ py_library(
     srcs = ["gym/__init__.py"],
     data = [
         ":gen_mujoco_gym_xml",
-        ":gen_mujoco_so",
         ":mujoco_gym_envpool.so",
     ],
     deps = ["//envpool/python:api"],

envpool/mujoco/dmc/mujoco_dmc_suite_align_test.py

@@ -158,7 +158,8 @@ def sample_action(self, action_spec: dm_env.specs.Array) -> np.ndarray:
     )
 
   def run_align_check(
-    self, env0: dm_env.Environment, env1: Any, domain: str, task: str
+    self, env0: dm_env.Environment, env1: Any, domain: str, task: str,
+    total_step: int
   ) -> None:
     logging.info(f"align check for {domain} {task}")
     obs_spec, action_spec = env0.observation_spec(), env0.action_spec()
@@ -171,7 +172,7 @@ def run_align_check(
       logging.info(f"reset qpos {ts.observation.qpos0[0]}")
       cnt = 0
       done = False
-      while not done:
+      while not done and cnt <= total_step:
         cnt += 1
         a = self.sample_action(action_spec)
         # logging.info(f"{cnt} {a}")
@@ -180,19 +181,24 @@ def run_align_check(
         done = ts0.step_type == dm_env.StepType.LAST
         o0, o1 = ts0.observation, ts1.observation
         for k in obs_spec:
-          np.testing.assert_allclose(o0[k], getattr(o1, k)[0])
+          np.testing.assert_allclose(o0[k], getattr(o1, k)[0], atol=1e-5)
         np.testing.assert_allclose(ts0.step_type, ts1.step_type[0])
-        np.testing.assert_allclose(ts0.reward, ts1.reward[0], atol=1e-8)
+        np.testing.assert_allclose(ts0.reward, ts1.reward[0], atol=1e-5)
         np.testing.assert_allclose(ts0.discount, ts1.discount[0])
 
   def run_align_check_entry(
-    self, domain: str, tasks: List[str], spec_cls: Any, envpool_cls: Any
+    self,
+    domain: str,
+    tasks: List[str],
+    spec_cls: Any,
+    envpool_cls: Any,
+    total_step: int = 1000,
   ) -> None:
     for task in tasks:
       env0 = suite.load(domain, task)
       env1 = envpool_cls(spec_cls(spec_cls.gen_config(task_name=task)))
       self.run_space_check(env0, env1)
-      self.run_align_check(env0, env1, domain, task)
+      self.run_align_check(env0, env1, domain, task, total_step)
 
   def test_acrobot(self) -> None:
     self.run_align_check_entry(
@@ -231,13 +237,13 @@ def test_fish(self) -> None:
 
   def test_hopper(self) -> None:
     self.run_align_check_entry(
-      "hopper", ["hop", "stand"], DmcHopperEnvSpec, DmcHopperDMEnvPool
+      "hopper", ["hop", "stand"], DmcHopperEnvSpec, DmcHopperDMEnvPool, 400
     )
 
   def test_humanoid(self) -> None:
     self.run_align_check_entry(
       "humanoid", ["stand", "walk", "run", "run_pure_state"],
-      DmcHumanoidEnvSpec, DmcHumanoidDMEnvPool
+      DmcHumanoidEnvSpec, DmcHumanoidDMEnvPool, 100
     )
 
   def test_manipulator(self) -> None:
@@ -270,7 +276,8 @@ def test_swimmer(self) -> None:
 
   def test_walker(self) -> None:
     self.run_align_check_entry(
-      "walker", ["run", "stand", "walk"], DmcWalkerEnvSpec, DmcWalkerDMEnvPool
+      "walker", ["run", "stand", "walk"], DmcWalkerEnvSpec, DmcWalkerDMEnvPool,
+      200
     )
 
 

envpool/mujoco/gym/mujoco_gym_align_test.py

@@ -124,7 +124,10 @@ def test_half_cheetah(self) -> None:
     env0 = mjc_mwe.HalfCheetahEnv()
     env1 = GymHalfCheetahGymEnvPool(
       GymHalfCheetahEnvSpec(
-        GymHalfCheetahEnvSpec.gen_config(gym_reset_return_info=True)
+        GymHalfCheetahEnvSpec.gen_config(
+          gym_reset_return_info=True,
+          max_episode_steps=99,
+        )
       )
     )
     self.run_space_check(env0, env1)
@@ -186,6 +189,7 @@ def test_humanoid(self) -> None:
           terminate_when_unhealthy=False,
           exclude_current_positions_from_observation=False,
           gym_reset_return_info=True,
+          max_episode_steps=999,
         )
       )
     )

envpool/workspace0.bzl

@@ -316,14 +316,74 @@ def workspace():
         build_file = "//third_party/vizdoom_extra_maps:vizdoom_extra_maps.BUILD",
     )
 
+    maybe(
+        http_archive,
+        name = "tinyxml2",
+        sha256 = "cc2f1417c308b1f6acc54f88eb70771a0bf65f76282ce5c40e54cfe52952702c",
+        strip_prefix = "tinyxml2-9.0.0",
+        urls = [
+            "https://github.com/leethomason/tinyxml2/archive/refs/tags/9.0.0.tar.gz",
+            "https://ml.cs.tsinghua.edu.cn/~jiayi/envpool/leethomason/tinyxml2/9.0.0.tar.gz",
+        ],
+        build_file = "//third_party/tinyxml2:tinyxml2.BUILD",
+    )
+
+    maybe(
+        http_archive,
+        name = "lodepng",
+        sha256 = "28a7e91b0476caed45b9b98b42eb765301fa5c9f15146d760c8ded2437ed0dff",
+        strip_prefix = "lodepng-5601b8272a6850b7c5d693dd0c0e16da50be8d8d",
+        urls = [
+            "https://github.com/lvandeve/lodepng/archive/5601b8272a6850b7c5d693dd0c0e16da50be8d8d.tar.gz",
+            "https://ml.cs.tsinghua.edu.cn/~jiayi/envpool/lvandeve/lodepng/5601b8272a6850b7c5d693dd0c0e16da50be8d8d.tar.gz",
+        ],
+        build_file = "//third_party/lodepng:lodepng.BUILD",
+    )
+
+    maybe(
+        http_archive,
+        name = "tinyobjloader",
+        sha256 = "f9061d790905416a8a6c6f3dbfee77c7665636de0a9dc750ce799b513ddba83c",
+        strip_prefix = "tinyobjloader-2.0.0rc9",
+        urls = [
+            "https://github.com/tinyobjloader/tinyobjloader/archive/refs/tags/v2.0.0rc9.tar.gz",
+            "https://ml.cs.tsinghua.edu.cn/~jiayi/envpool/tinyobjloader/tinyobjloader/v2.0.0rc9.tar.gz",
+        ],
+        build_file = "//third_party/tinyobjloader:tinyobjloader.BUILD",
+    )
+
+    maybe(
+        http_archive,
+        name = "ccd",
+        sha256 = "542b6c47f522d581fbf39e51df32c7d1256ac0c626e7c2b41f1040d4b9d50d1e",
+        strip_prefix = "libccd-2.1",
+        urls = [
+            "https://github.com/danfis/libccd/archive/refs/tags/v2.1.tar.gz",
+            "https://ml.cs.tsinghua.edu.cn/~jiayi/envpool/danfis/libccd/v2.1.tar.gz",
+        ],
+        build_file = "//third_party/ccd:ccd.BUILD",
+    )
+
+    maybe(
+        http_archive,
+        name = "qhull",
+        sha256 = "09e5e4c5b2b8a9e617a46876fef5a3d33e70aa1d08a163ff05d37701327c3be7",
+        strip_prefix = "qhull-8.1-alpha1",
+        urls = [
+            "https://github.com/qhull/qhull/archive/refs/tags/v8.1-alpha1.tar.gz",
+            "https://ml.cs.tsinghua.edu.cn/~jiayi/envpool/qhull/qhull/v8.1-alpha1.tar.gz",
+        ],
+        build_file = "//third_party/qhull:qhull.BUILD",
+    )
+
     maybe(
         http_archive,
         name = "mujoco",
-        sha256 = "d1cb3a720546240d894cd315b7fd358a2b96013a1f59b6d718036eca6f6edac2",
+        sha256 = "e7fa0821c993073b19bd8034df63661e309edcdc2d602101c3f9b28201574ded",
         strip_prefix = "mujoco-2.2.1",
         urls = [
-            "https://github.com/deepmind/mujoco/releases/download/2.2.1/mujoco-2.2.1-linux-x86_64.tar.gz",
-            "https://ml.cs.tsinghua.edu.cn/~jiayi/envpool/deepmind/mujoco/mujoco-2.2.1-linux-x86_64.tar.gz",
+			"https://github.com/deepmind/mujoco/archive/refs/tags/2.2.1.tar.gz",
+            "https://ml.cs.tsinghua.edu.cn/~jiayi/envpool/deepmind/mujoco/2.2.1.tar.gz",
         ],
         build_file = "//third_party/mujoco:mujoco.BUILD",
     )

third_party/ccd/ccd.BUILD

@@ -0,0 +1,20 @@
+load("@envpool//third_party:common.bzl", "template_rule")
+
+package(default_visibility = ["//visibility:public"])
+
+template_rule(
+    name = "ccd_config",
+    src = "src/ccd/config.h.cmake.in",
+    out = "src/ccd/config.h",
+    substitutions = {
+        "#cmakedefine CCD_SINGLE": "",
+        "#cmakedefine CCD_DOUBLE": "#define CCD_DOUBLE",
+    },
+)
+
+cc_library(
+    name = "ccd",
+    srcs = glob(["src/*.h"]) + glob(["src/*.c"]) + [":ccd_config"],
+    hdrs = glob(["src/ccd/*.h"]),
+    includes = ["src"],
+)

third_party/lodepng/lodepng.BUILD

@@ -0,0 +1,7 @@
+package(default_visibility = ["//visibility:public"])
+
+cc_library(
+    name = "lodepng",
+    srcs = ["lodepng.cpp"],
+    hdrs = ["lodepng.h"],
+)

third_party/mujoco/mujoco.BUILD

@@ -2,17 +2,32 @@ package(default_visibility = ["//visibility:public"])
 
 cc_library(
     name = "mujoco_lib",
-    srcs = glob(["lib/*"]),
+    srcs = glob(["src/**/*.h"]) + glob(["src/**/*.c"]) + glob(["src/**/*.cc"]) + glob(["src/**/*.inc"]),
     hdrs = glob(["include/mujoco/*.h"]),
+    copts = [
+        "-mavx",
+        "-Wno-int-in-bool-context",
+        "-Wno-maybe-uninitialized",
+        "-Wno-sign-compare",
+        "-Wno-stringop-overflow",
+        "-Wno-stringop-truncation",
+    ],
     includes = [
         "include",
         "include/mujoco",
+        "src",
+    ],
+    linkopts = [
+        "-fuse-ld=gold",
+        "-Wl,--gc-sections",
+    ],
+    linkstatic = 1,
+    visibility = ["//visibility:public"],
+    deps = [
+        "@ccd",
+        "@lodepng",
+        "@qhull",
+        "@tinyobjloader",
+        "@tinyxml2",
     ],
-    linkopts = ["-Wl,-rpath,'$$ORIGIN'"],
-    linkstatic = 0,
-)
-
-filegroup(
-    name = "mujoco_so",
-    srcs = ["lib/libmujoco.so.2.2.1"],
 )

third_party/qhull/qhull.BUILD

@@ -0,0 +1,8 @@
+package(default_visibility = ["//visibility:public"])
+
+cc_library(
+    name = "qhull",
+    srcs = glob(["src/libqhull_r/*.h"]) + glob(["src/libqhull_r/*.c"]),
+    hdrs = glob(["src/libqhull_r/*.h"]),
+    includes = ["src/libqhull_r"],
+)

third_party/tinyobjloader/tinyobjloader.BUILD

@@ -0,0 +1,8 @@
+package(default_visibility = ["//visibility:public"])
+
+cc_library(
+    name = "tinyobjloader",
+    srcs = ["tiny_obj_loader.cc"],
+    hdrs = ["tiny_obj_loader.h"],
+    includes = ["."],
+)

third_party/tinyxml2/tinyxml2.BUILD

@@ -0,0 +1,7 @@
+package(default_visibility = ["//visibility:public"])
+
+cc_library(
+    name = "tinyxml2",
+    srcs = ["tinyxml2.cpp"],
+    hdrs = ["tinyxml2.h"],
+)