Remove MjLib in favor of using the MuJoCo cpp library directly.

PiperOrigin-RevId: 677840274 Change-Id: I67d8d21a8cac041e4ad79aa9009beb74795f7c68
google-deepmind · Sep 23, 2024 · ac79c52 · ac79c52
1 parent f9b0652
commit ac79c52
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Showing 7 changed files with 4 additions and 949 deletions.
diff --git a/cpp/controllers/README.md b/cpp/controllers/README.md
@@ -32,7 +32,7 @@ information.
 #include "absl/container/btree_set.h"
 #include "absl/types/span.h"
 #include "dm_robotics/controllers/lsqp/cartesian_6d_to_joint_velocity_mapper.h"
-#include "dm_robotics/mujoco/mjlib.h"
+#include "third_party/mujoco/include/mujoco.h"
 #include "dm_robotics/mujoco/types.h"
 
 namespace dmr = ::dm_robotics;
@@ -41,15 +41,13 @@ int main(int argc, char** argv) {
   // Initialize MuJoCo simulation. Assumes velocity controlled robot.
   // data->ctrl is an array of size 7 that corresponds to the commanded
   // velocities of the joints with IDs 7, 8, 9, 10, 12, 13, 14.
-  dmr::MjLib mjlib = GetMujocoLib();
   std::unique_ptr<mjModel, void (*)(mjModel*)> model = GetModel();
   std::unique_ptr<mjData, void (*)(mjData*)> data = GetData();
 
   // Create parameters.
   dmr::Cartesian6dToJointVelocityMapper::Parameters params;
   //
   // Set model parameters.
-  params.lib = mjlib;
   params.model = model.get();
   params.joint_ids = absl::btree_set<int>{7, 8, 9, 10, 12, 13, 14};
   params.object_type = mjtObj::mjOBJ_SITE;
@@ -117,7 +115,7 @@ int main(int argc, char** argv) {
     absl::Span<const double> solution,
             mapper.ComputeJointVelocities(*data, target_velocity, nullspace_bias).value();
     std::copy(solution.begin(), solution.end(), data->ctrl);
-    mjlib.mj_step(model.get(), data.get());
+    mj_step(model.get(), data.get());
   }
 }
 ```
diff --git a/cpp/controllers_py/pybind_utils.cc b/cpp/controllers_py/pybind_utils.cc
@@ -23,7 +23,7 @@
 
 #include "dm_robotics/support/logging.h"
 #include "absl/strings/substitute.h"
-#include "dm_robotics/mujoco/mjlib.h"
+#include "mujoco/mujoco.h"
 #include "pybind11/pybind11.h"  // pybind
 
 namespace dm_robotics::internal {

diff --git a/cpp/controllers_py/pybind_utils.h b/cpp/controllers_py/pybind_utils.h
@@ -16,7 +16,7 @@
 #define DM_ROBOTICS_PY_CONTROLLERS_PYBIND_UTILS_H_
 
 #include "absl/strings/string_view.h"
-#include "dm_robotics/mujoco/mjlib.h"
+#include "mujoco/mujoco.h"
 #include "pybind11/pytypes.h"  // pybind
 
 namespace dm_robotics::internal {

diff --git a/cpp/mujoco/CMakeLists.txt b/cpp/mujoco/CMakeLists.txt
@@ -36,11 +36,9 @@ configure_file(${CMAKE_CURRENT_SOURCE_DIR}/cmake/defs.h.in
 
 # Library
 set(SRCS
-  ${CMAKE_CURRENT_SOURCE_DIR}/src/mjlib.cc
   ${CMAKE_CURRENT_SOURCE_DIR}/src/utils.cc
 )
 set(HDRS
-  ${CMAKE_CURRENT_SOURCE_DIR}/include/dm_robotics/mujoco/mjlib.h
   ${CMAKE_CURRENT_SOURCE_DIR}/include/dm_robotics/mujoco/types.h
   ${CMAKE_CURRENT_SOURCE_DIR}/include/dm_robotics/mujoco/utils.h
   ${CMAKE_CURRENT_BINARY_DIR}/include/dm_robotics/mujoco/defs.h
@@ -90,20 +88,6 @@ if(DM_ROBOTICS_BUILD_TESTS)
       dmr_mujoco
   )
 
-  # mjlib_test
-  add_executable(dmr_mujoco_mjlib_test
-    ${CMAKE_CURRENT_SOURCE_DIR}/tests/mjlib_test.cc
-  )
-  target_link_libraries(dmr_mujoco_mjlib_test
-    gtest
-    gmock
-    gtest_main
-    dmr_support
-    dmr_mujoco
-    dmr_mujoco_testing
-  )
-  gtest_discover_tests(dmr_mujoco_mjlib_test)
-
   # test_with_mujoco_model_test
   add_executable(dmr_mujoco_test_with_mujoco_model_test
     ${CMAKE_CURRENT_SOURCE_DIR}/tests/test_with_mujoco_model_test.cc