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google-deepmind / dm_robotics

Libraries, tools and tasks created and used at DeepMind Robotics.
Apache License 2.0
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Update PIP subpackages for MuJoCo 2.1.1 #5

Closed kevinzakka closed 2 years ago

kevinzakka commented 2 years ago

Hi!

Big fan of the subpackages in this repo such as dm_robotics-transformations. Would it be possible to upload binaries that support the latest MuJoCo version? I can't use them at the moment because they require MuJoCo 210.

Cheers!

shacklestone commented 2 years ago

This is an oversight on my part.

Since it's a minor release, and I don't believe any of the API we use has changed between 2.1.0 and 2.1.1 I think you should be able to create a 2.1.0 symlink that points to the 2.1.1 version of the mujoco .so file.

However, that's not ideal. We will cut a new release that expects to load MuJoCo 2.1.1, I'll aim for next week.

kevinzakka commented 2 years ago

Thanks @shacklestone!

Just to clarify, the issue is that dm_robotics-transformation installs a pegged version of dm_control that requires 2.1.0. If I reinstall dm_control from source, the subpackages work.

shacklestone commented 2 years ago

The newly released version 0.3.0 of these packages depend on dm_control == 0.0.425341097 which expects MuJoCo 2.1.1.

shacklestone commented 2 years ago

Also note, that in version 0.3.0, transformations will attempt to import NumPy Quaternion and use that library to speed up some operations, if it is present (https://github.com/moble/quaternion)

kevinzakka commented 2 years ago

Worked like a charm, thank you so much @shacklestone !