Import 1.50.x series code

.appveyor.yml

+version: 1.0.{build}
+
+environment:
+
+    global:
+        # SDK v7.0 MSVC Express 2008's SetEnv.cmd script will fail if the
+        # /E:ON and /V:ON options are not enabled in the batch script intepreter
+        # See: http://stackoverflow.com/a/13751649/163740
+        CMD_IN_ENV: "cmd /E:ON /V:ON /C .\\continuous-integration\\appveyor\\run_with_env.cmd"
+
+platform: 
+    - x64 
+
+
+install:
+    - mkdir %userprofile%\.mujoco
+    - curl %MUJOCO_FOR_WINDOWS% -o %userprofile%\.mujoco\mjpro.tar.gz
+    - curl https://github.com/glfw/glfw/releases/download/3.2.1/glfw-3.2.1.bin.WIN64.zip -o %userprofile%\glfw.zip
+    - cd %userprofile%\.mujoco\
+    - tar -zxvf mjpro.tar.gz 
+    - echo "%PYTHON_VERSION% C:\Miniconda35-x64 %userprofile%"
+    - set PATH=C:\Miniconda35-x64;C:\Miniconda35-x64\Scripts;%PATH%
+    - conda config --set always_yes yes --set changeps1 no
+    - conda update -q conda
+    - conda info -a
+    - conda create -q -n test-environment python=3.5 numpy scipy
+    - activate test-environment
+    - SET PATH=%userprofile%\.mujoco\mjpro150\bin;%PATH%;
+    - SET RENDERING_OFF=1
+    - cd C:\projects\pymj
+    - pip install -r requirements.txt
+    - pip install -r requirements.dev.txt
+
+build: off
+
+test_script:
+    - pytest -s --verbose --durations=10 --instafail
+
+

.dockerignore

+generated_cymj*
+_pyxbld*
+dist
+cache
+.idea/*
+*~
+.*~
+*#*#
+*.o
+*.dat
+*.prof
+*.lprof
+*.local
+.realsync
+.DS_Store
+**/*.egg-info
+.cache
+*.ckpt
+*.log
+.ipynb_checkpoints
+venv/
+.vimrc
+*.settings
+*.svn
+.project
+.pydevproject
+tags
+*sublime-project
+*sublime-workspace
+# Intermediate outputs
+__pycache__
+**/__pycache__
+*.pb.*
+*.pyc
+*.swp
+*.swo
+# generated data
+*.rdb
+*.db
+*.avi
+# mujoco outputs
+MUJOCO_LOG.TXT
+model.txt
+.window_data
+.idea/*.xml
+outputfile
+tmp*
+cymj.c
+**/.git

.gitignore

+generated_cymj*
+_pyxbld*
+dist
+cache
+.idea/*
+*~
+.*~
+*#*#
+*.o
+*.dat
+*.prof
+*.lprof
+*.local
+.realsync
 .DS_Store
-
-# Byte-compiled / optimized / DLL files
-__pycache__/
-*.py[cod]
-*$py.class
-
-# Distribution / packaging
-.Python
-env/
-build/
-develop-eggs/
-dist/
-downloads/
-eggs/
-.eggs/
-lib/
-lib64/
-parts/
-sdist/
-var/
-*.egg-info/
-.installed.cfg
-*.egg
-
-# PyInstaller
-#  Usually these files are written by a python script from a template
-#  before PyInstaller builds the exe, so as to inject date/other infos into it.
-*.manifest
-*.spec
-
-# Installer logs
-pip-log.txt
-pip-delete-this-directory.txt
-
-# Unit test / coverage reports
-htmlcov/
-.tox/
-.coverage
-.coverage.*
+**/*.egg-info
 .cache
-nosetests.xml
-coverage.xml
-*,cover
-.hypothesis/
-
-# Translations
-*.mo
-*.pot
-
-# Django stuff:
+*.ckpt
 *.log
-
-# Sphinx documentation
-docs/_build/
-
-# PyBuilder
-target/
-
-
-gcc-dylibs
-MANIFEST
-/tmp
+.ipynb_checkpoints
+venv/
+.vimrc
+*.settings
+*.svn
+.project
+.pydevproject
+tags
+*sublime-project
+*sublime-workspace
+# Intermediate outputs
+__pycache__
+**/__pycache__
+*.pb.*
+*.pyc
+*.swp
+*.swo
+# generated data
+*.rdb
+*.db
+*.avi
+# mujoco outputs
 MUJOCO_LOG.TXT
+model.txt
+.window_data
+.idea/*.xml
+outputfile
+tmp*
+cymj.c
+**/.git

.python-version

+3.5.2/envs/pymj

.travis.yml

-dist: trusty
 sudo: required
-cache:
-  apt: true
-language: python
-addons:
-  apt:
-    packages:
-      - python-dev
-python:
-  - "2.7"
-  - "3.5"
-install: pip install tox-travis
-script: tox
+language: generic
+dist: trusty
+
 before_install:
-  - Xvfb :12 -screen 0 800x600x24 +extension RANDR &
-  - mkdir -p ~/.mujoco
-  - curl https://openai-public.s3-us-west-2.amazonaws.com/mujoco/$MUJOCO_KEY_BUNDLE.tar.gz | tar xz -C ~/.mujoco
-env:
-  - DISPLAY=:12
+- curl $MUJOCO_FOR_LINUX | tar -xz ./mjkey.txt
+- docker build -t image-under-test .
 
-notifications:
-  slack:
-    secure: h/Mxm8K+avH/2W0818zCHmLloRPMFN4NJL01+VShvAkH80/acfjeq/+mMdWXXPL/oOB6kSHDk+GDhwR6+s03ZcPMn5INTFvFYqUc6UWmT+NXtOPxGTN0xda6MdYUkWQUKaMyjFrweZQOMOASFBIzPOq4XeVbM5aB8s4EJhnfAcYZhp/idwKbToVihN4KZgxlvZIFc8iEp1o9uSl5qrsaeYYYXRkb6mauacAwOo4/Chu+cOnoLUOnvhBFE3rV3doDNrbnoalO8XiExtgx5CIAYWrlMni7r2Q+LlzgwdyTH19ZtybPxJTZIIWSBQ2UtcoYdIEDcc36GcUwz1VUGg32mLJJnY2xw80CWR4ixFPpLwwP5Y99WTn8v094B4nmFTWOwNWXp3EkqtTN9XcJoRBqXB5ArucIPqrx57dOCljSKx22gL6WaF2p3stSAxIGFektGyGnisaELrFZG1C63aHoUPicj3gUlijmAoUmYaDRf6P1wnpXqBpKDAWWhAMSatvx1ekmEJgR7OQklQnnfjx9kENDUygNUWS4IQwN2qYieuzHFL3of7/30mTM43+Vt/vWN8GI7j01BXu6FNGGloHxjH1pt3bLP/+uj5BJsT2HWF+Z8XR4VE6cyVuKsQAFgCXwOkoDHALbcwsspONDIt/9ixkesgh1oFt4CzU3UuU5wYs=
-    on_success: change
+script:
+- docker run --rm image-under-test

Dockerfile

-FROM ubuntu:14.04
+# We need the CUDA base dockerfile to enable GPU rendering
+# on hosts with GPUs.
+FROM nvidia/cuda:8.0-devel-ubuntu16.04
 
-RUN apt-get update && apt-get install -y \
-    python2.7 \
-    python2.7-dev \
-    python-pip \
-    unzip \
-    xorg-dev \
+RUN apt-get update -q \
+    && DEBIAN_FRONTEND=noninteractive apt-get install -y \
+    curl \
+    git \
     libgl1-mesa-dev \
-    xvfb \
-    libxinerama1 \
-    libxcursor1 \
-    libglu1-mesa \
-    cmake \
-    gfortran \
-    libblas-dev \
-    libatlas-dev \
-    liblapack-dev \
-    libjpeg62 \
-    libjpeg62-dev \
- && apt-get clean \
- && rm -rf /var/lib/apt/lists/*
-
-COPY requirements.txt /mujoco-py/requirements.txt
-RUN pip install -r /mujoco-py/requirements.txt
-
-COPY . /mujoco-py
-
-ENV PYTHONPATH=/mujoco-py
-WORKDIR /mujoco-py
-ENTRYPOINT ["bin/docker-entrypoint.sh"]
-CMD ["nosetests", "tests/"]
+    libgl1-mesa-glx \
+    libosmesa6-dev \
+    python3-pip \
+    python3-numpy \
+    python3-scipy \
+    unzip \
+    vim \
+    wget \
+    xpra \
+    xserver-xorg-dev \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN curl -o /usr/local/bin/patchelf https://s3-us-west-2.amazonaws.com/openai-sci-artifacts/manual-builds/patchelf_0.9_amd64.elf \
+    && chmod +x /usr/local/bin/patchelf
+
+ENV LANG C.UTF-8
+
+RUN mkdir -p /root/.mujoco \
+    && wget https://www.roboti.us/download/mjpro150_linux.zip -O mujoco.zip \
+    && unzip mujoco.zip -d /root/.mujoco \
+    && rm mujoco.zip
+COPY ./mjkey.txt /root/.mujoco/
+ENV LD_LIBRARY_PATH /root/.mujoco/mjpro150/bin:$LD_LIBRARY_PATH
+
+COPY vendor/Xdummy /usr/local/bin/Xdummy
+RUN chmod +x /usr/local/bin/Xdummy
+
+# Workaround for https://bugs.launchpad.net/ubuntu/+source/nvidia-graphics-drivers-375/+bug/1674677
+COPY ./vendor/10_nvidia.json /usr/share/glvnd/egl_vendor.d/10_nvidia.json
+
+WORKDIR /mujoco_py
+# Copy over just requirements.txt at first. That way, the Docker cache doesn't
+# expire until we actually change the requirements.
+COPY ./requirements.txt /mujoco_py/
+COPY ./requirements.dev.txt /mujoco_py/
+RUN pip3 install -r requirements.txt
+RUN pip3 install -r requirements.dev.txt
+
+# Delay moving in the entire code until the very end.
+ENTRYPOINT ["/mujoco_py/vendor/Xdummy-entrypoint"]
+CMD ["pytest"]
+COPY . /mujoco_py
+RUN python3 setup.py install

LICENSE → LICENSE.md

+# mujoco-py
+
 The MIT License
 
-Copyright (c) 2016 OpenAI (http://openai.com)
+Copyright (c) 2017 OpenAI (http://openai.com)
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal
@@ -19,3 +21,16 @@ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 THE SOFTWARE.
+
+# Mujoco models
+This work is derived from [MuJuCo models](http://www.mujoco.org/forum/index.php?resources/) used under the following license:
+```
+This file is part of MuJoCo.
+Copyright 2009-2015 Roboti LLC.
+Mujoco		:: Advanced physics simulation engine
+Source		: www.roboti.us
+Version		: 1.31
+Released 	: 23Apr16
+Author		:: Vikash Kumar
+Contacts 	: kumar@roboti.us
+```

MANIFEST.in

+include requirements.txt
+include requirements.dev.txt
+recursive-include mujoco_py *.h *.py *.pyx *.pxd *.pxi *.xml *.c *.so
+include mujoco_py/gl/*.c
+include setup.py

Makefile

+.PHONY: all clean build test mount_shell shell upload check-env
+
+MUJOCO_LICENSE_PATH ?= ~/.mujoco/mjkey.txt
+
+all: test
+
+clean:
+	rm -rf mujoco_py.egg-info
+	rm -rf */__pycache__
+	rm -rf */*/__pycache__
+	rm -rf mujoco_py/generated/_pyxbld*
+	rm -rf mujoco_py/generated_cymj*
+	rm -rf mujoco_py/cythonlock_*.pyc
+	rm -rf dist
+	rm -rf build
+
+build: check-license
+	cp $(MUJOCO_LICENSE_PATH) mjkey.txt
+	docker build -t mujoco_py . || rm mjkey.txt && rm mjkey.txt
+
+test: build
+	# run it interactive mode so we can abort with CTRL+C
+	docker run --rm -i mujoco_py pytest
+
+mount_shell:
+	docker run --rm -it -v `pwd`:/dev mujoco_py /bin/bash -c "pip uninstall -y mujoco_py; rm -rf /mujoco_py; (cd /dev; /bin/bash)"
+
+shell:
+	docker run --rm -it mujoco_py /bin/bash
+
 upload:
 	rm -rf dist
 	python setup.py sdist
 	twine upload dist/*
 
-test:
-	nose2
+check-license:
+ifeq ("","$(wildcard $(MUJOCO_LICENSE_PATH))")
+    $(error "License key not found at location $(MUJOCO_LICENSE_PATH). Use MUJOCO_LICENSE_PATH to specify its path")
+endif

README.md

-# MuJoCo Python Bindings
+# mujoco-py [![Documentation](https://img.shields.io/badge/docs-latest-brightgreen.svg?style=flat)](https://openai.github.io/pymj/build/html/index.html) [![Build Status](https://travis-ci.com/openai/pymj.svg?token=aA2GupFxnzsRTN56psRJ&branch=master)](https://travis-ci.com/openai/pymj) [![Build status](https://ci.appveyor.com/api/projects/status/dsg86qpalv9bi568?svg=true)](https://ci.appveyor.com/project/wojzaremba/pymj)
 
-[![Build Status](https://travis-ci.org/openai/mujoco-py.svg?branch=master)](https://travis-ci.org/openai/mujoco-py)
+[MuJoCo](http://mujoco.org/) is a physics engine for detailed, efficient rigid body simulations with contacts. `mujoco-py` allows using MuJoCo from Python.
 
-MuJoCo is a physics engine which can do very detailed efficient
-simulations with contacts. This library lets you use MuJoCo from
-Python.
+## Synopsis
 
-Note that MuJoCo tends to change significantly between versions, so
-this library is likely to stay pinned to 1.31 for the near future.
+### Install MuJoCo
 
-# Installing this library
-
-You can install this library using:
+1. Obtain a 30-day free trial on the [MuJoCo website](https://www.roboti.us/license.html)
+   or free license if you are a student.
+   The license key will arrive in an email with your username and password.
+2. Download the MuJoCo version 1.50 binaries for
+   [Linux](https://www.roboti.us/active/mjpro150_linux.zip),
+   [OSX](https://www.roboti.us/active/mjpro150_osx.zip), or
+   [Windows](https://www.roboti.us/active/mjpro150_windows.zip).
+3. Unzip the downloaded `mjpro150` directory into `~/.mujoco/mjpro150`,
+   and place your license key (the `mjkey.txt` file from your email)
+   at `~/.mujoco/mjkey.txt`.
 
+### Install and use `mujoco-py`
+To include `mujoco-py` in another package, add it to your requirements like so:
+```
+mujoco-py<1.50.2,>=1.50.1
 ```
-pip install mujoco-py
+To play with it interactively, follow these steps:
 ```
+$ pip install -U 'mujoco-py<1.50.2,>=1.50.1'
+$ python
+import mujoco_py
+from os.path import dirname
+model = mujoco_py.load_model_from_path(dirname(dirname(mujoco_py.__file__))  +"/xmls/claw.xml")
+sim = mujoco_py.MjSim(model)
 
-MuJoCo isn't open-source, so you'll also need to set download the
-MuJoCo binaries and obtain license key.
+print(sim.data.qpos)
+# [ 0.  0.  0.  0.  0.  0.  0.  0.  0.  0.  0.  0.]
 
-## Obtaining the binaries and license key
+sim.step()
+print(sim.data.qpos)
+# [  2.09217903e-06  -1.82329050e-12  -1.16711384e-07  -4.69613872e-11
+#   -1.43931860e-05   4.73350204e-10  -3.23749942e-05  -1.19854057e-13
+#   -2.39251380e-08  -4.46750545e-07   1.78771599e-09  -1.04232280e-08]
+```
 
-1. Obtain a 30-day free trial on the MuJoCo website:
-   https://www.roboti.us/license.html. The license key will arrive in
-   an email with your username and password.
-2. Download the MuJoCo version 1.31 binaries for
-   [Linux](https://www.roboti.us/active/mjpro131_linux.zip),
-   [OSX](https://www.roboti.us/active/mjpro131_osx.zip), or
-   [Windows](https://www.roboti.us/active/mjpro131_windows.zip).
-3. Download your license key (the `mjkey.txt` file from your email)
-   and unzip the downloaded mjpro bundle.
-4. Place these in `~/.mujoco/mjkey.txt` and `~/.mujoco/mjpro131`. You
-   can alternatively set the following environment variables:
+See the [full documentation](https://openai.github.io/pymj/build/html/index.html) for advanced usage.
 
-```
-export MUJOCO_PY_MJKEY_PATH=/path/to/mjkey.txt
-export MUJOCO_PY_MJPRO_PATH=/path/to/mjpro131
-```
+## Usage Examples
 
-## Testing
+A number of examples demonstrating some advanced features of `mujoco-py` can be found in [`examples/`](/./examples/). These include:
+- [`body_interaction.py`](./examples/body_interaction.py): shows interactions between colliding bodies
+- [`disco_fetch.py`](./examples/disco_fetch.py): shows how `TextureModder` can be used to randomize object textures
+- [`internal_functions.py`](./examples/internal_functions.py): shows how to call raw mujoco functions like `mjv_room2model`
+- [`markers_demo.py`](./examples/markers_demo.py): shows how to add visualization-only geoms to the viewer
+- [`serialize_model.py`](./examples/serialize_model.py): shows how to save and restore a model
+- [`setting_state.py`](./examples/setting_state.py):  shows how to reset the simulation to a given state
+- [`simpool.py`](./examples/simpool.py): shows how `MjSimPool` can be used to run a number of simulations in parallel
+- [`tosser.py`](./examples/tosser.py): shows a simple actuated object sorting robot application
 
-Run:
+See the [full documentation](https://openai.github.io/pymj/build/html/index.html) for advanced usage.
+
+## Development
+
+To run the provided unit and integrations tests:
 
 ```
 make test
 ```
+
+## Credits
+
+`mujoco-py` is maintained by the OpenAI Robotics team. Contributors include:
+
+- Alex Ray
+- Bob McGrew
+- Jonas Schneider
+- Jonathan Ho
+- Peter Welinder
+- Wojciech Zaremba

docs/Makefile

+SPHINXOPTS    =
+SPHINXBUILD   = python -msphinx
+SPHINXPROJ    = mujoco-py
+SOURCEDIR     = .
+BUILDDIR      = build
+
+.PHONY: all clean
+
+all:
+	@$(SPHINXBUILD) -M html "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+clean:
+	@$(SPHINXBUILD) -M clean "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

docs/build/html/.buildinfo

+# Sphinx build info version 1
+# This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
+config: 796e1527cf38c16076806cf6da80d531
+tags: 645f666f9bcd5a90fca523b33c5a78b7

docs/build/html/_modules/index.html

+
+
+<!DOCTYPE html>
+<!--[if IE 8]><html class="no-js lt-ie9" lang="en" > <![endif]-->
+<!--[if gt IE 8]><!--> <html class="no-js" lang="en" > <!--<![endif]-->
+<head>
+  <meta charset="utf-8">
+  
+  <meta name="viewport" content="width=device-width, initial-scale=1.0">
+  
+  <title>Overview: module code &mdash; mujoco-py 1.50.0.14 documentation</title>
+  
+
+  
+  
+  
+  
+
+  
+
+  
+  
+    
+
+  
+
+  
+  
+    <link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
+  
+
+  
+
+  
+        <link rel="index" title="Index"
+              href="../genindex.html"/>
+        <link rel="search" title="Search" href="../search.html"/>
+    <link rel="top" title="mujoco-py 1.50.0.14 documentation" href="../index.html"/> 
+
+  
+  <script src="../_static/js/modernizr.min.js"></script>
+
+</head>
+
+<body class="wy-body-for-nav" role="document">
+
+   
+  <div class="wy-grid-for-nav">
+
+    
+    <nav data-toggle="wy-nav-shift" class="wy-nav-side">
+      <div class="wy-side-scroll">
+        <div class="wy-side-nav-search">
+          
+
+          
+            <a href="../index.html" class="icon icon-home"> mujoco-py
+          
+
+          
+          </a>
+
+          
+            
+            
+              <div class="version">
+                1.50.0.14
+              </div>
+            
+          
+
+          
+<div role="search">
+  <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
+    <input type="text" name="q" placeholder="Search docs" />
+    <input type="hidden" name="check_keywords" value="yes" />
+    <input type="hidden" name="area" value="default" />
+  </form>
+</div>
+
+          
+        </div>
+
+        <div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="main navigation">
+          
+            
+            
+              
+            
+            
+              <ul>
+<li class="toctree-l1"><a class="reference internal" href="../reference.html">API reference</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../internals.html">Internals</a></li>
+</ul>
+
+            
+          
+        </div>
+      </div>
+    </nav>
+
+    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap">
+
+      
+      <nav class="wy-nav-top" role="navigation" aria-label="top navigation">
+        
+          <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
+          <a href="../index.html">mujoco-py</a>
+        
+      </nav>
+
+
+      
+      <div class="wy-nav-content">
+        <div class="rst-content">
+          
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+<div role="navigation" aria-label="breadcrumbs navigation">
+
+  <ul class="wy-breadcrumbs">
+    
+      <li><a href="../index.html">Docs</a> &raquo;</li>
+        
+      <li>Overview: module code</li>
+    
+    
+      <li class="wy-breadcrumbs-aside">
+        
+            
+        
+      </li>
+    
+  </ul>
+
+  
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+            
+  <h1>All modules for which code is available</h1>
+<ul><li><a href="mujoco_py/builder.html">mujoco_py.builder</a></li>
+<li><a href="mujoco_py/cymj.html">mujoco_py.cymj</a></li>
+<li><a href="mujoco_py/mjviewer.html">mujoco_py.mjviewer</a></li>
+</ul>
+
+           </div>
+           <div class="articleComments">
+            
+           </div>
+          </div>
+          <footer>
+  
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>
+        &copy; Copyright 2017, OpenAI.
+
+    </p>
+  </div>
+  Built with <a href="http://sphinx-doc.org/">Sphinx</a> using a <a href="https://github.com/snide/sphinx_rtd_theme">theme</a> provided by <a href="https://readthedocs.org">Read the Docs</a>. 
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