musculoskeletal dog creation

dm_control/_render/pyopengl/egl_renderer.py

@@ -103,12 +103,13 @@ def _platform_init(self, unused_max_width, unused_max_height):
     """Initialization this EGL context."""
     num_configs = ctypes.c_long(0)
     config_size = 1
-    config = EGL.EGLConfig()
+    # ctypes syntax for making an array of length config_size.
+    configs = (EGL.EGLConfig * config_size)()
     EGL.eglReleaseThread()
     EGL.eglChooseConfig(
         EGL_DISPLAY,
         EGL_ATTRIBUTES,
-        ctypes.byref(config),
+        configs,
         config_size,
         num_configs)
     if num_configs.value < 1:
@@ -117,7 +118,7 @@ def _platform_init(self, unused_max_width, unused_max_height):
           'desired attributes: {}'.format(EGL_ATTRIBUTES))
     EGL.eglBindAPI(EGL.EGL_OPENGL_API)
     self._context = EGL.eglCreateContext(
-        EGL_DISPLAY, config, EGL.EGL_NO_CONTEXT, None)
+        EGL_DISPLAY, configs[0], EGL.EGL_NO_CONTEXT, None)
     if not self._context:
       raise RuntimeError('Cannot create an EGL context.')
 

dm_control/autowrap/header_parsing.py

@@ -78,6 +78,19 @@ def _nested_if_else(if_, pred, else_, endif, match_if_true, match_if_false):
   return ifelse
 
 
+def _nested_ifn_else(ifn_, pred, else_, endif, match_if_true, match_if_false):
+  """Constructs a parser for (possibly nested) if...(else)...endif blocks."""
+  ifnelse = pp.Forward()
+  ifnelse << pp.Group(  # pylint: disable=expression-not-assigned
+      ifn_ +
+      pred("predicate") +
+      pp.ZeroOrMore(match_if_true | ifnelse)("if_false") +
+      pp.Optional(else_ +
+                  pp.ZeroOrMore(match_if_false | ifnelse)("if_true")) +
+      endif)
+  return ifnelse
+
+
 # Some common string patterns to suppress.
 # ------------------------------------------------------------------------------
 (LPAREN, RPAREN, LBRACK, RBRACK, LBRACE, RBRACE, SEMI, COMMA, EQUAL, FSLASH,
@@ -189,7 +202,9 @@ def _nested_if_else(if_, pred, else_, endif, match_if_true, match_if_false):
 UNCOND_DECL = DEF_FLAG | DEF_CONST | TYPE_DECL
 
 # Declarations inside (possibly nested) #if(n)def... #else... #endif... blocks.
-COND_DECL = _nested_if_else(IFDEF, NAME, ELSE, ENDIF, UNCOND_DECL, UNCOND_DECL)
+COND_DECL = _nested_if_else(
+    IFDEF, NAME, ELSE, ENDIF, UNCOND_DECL, UNCOND_DECL
+) | _nested_ifn_else(IFNDEF, NAME, ELSE, ENDIF, UNCOND_DECL, UNCOND_DECL)
 # Note: this doesn't work for '#if defined(FLAG)' blocks
 
 # e.g. "mjtNum gravity[3];              // gravitational acceleration"

dm_control/blender/fake_core/bpy.py

@@ -0,0 +1,229 @@
+# Copyright 2023 The dm_control Authors.
+#
+# 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.
+# ============================================================================
+
+"""Fake Blender bpy module."""
+
+from __future__ import annotations  # postponed evaluation of annotations
+
+from typing import Any, Collection, Sequence
+
+from dm_control.blender.fake_core import mathutils
+
+# pylint: disable=invalid-name
+# pylint: disable=missing-class-docstring
+
+
+class WindowManager:
+
+  def progress_begin(self, start: int, end: int):
+    pass
+
+  def progress_update(self, steps_done: int):
+    pass
+
+  def progress_end(self):
+    pass
+
+
+class context:
+
+  @property
+  def window_manager(self) -> WindowManager:
+    return WindowManager()
+
+  @staticmethod
+  def evaluated_depsgraph_get():
+    pass
+
+
+class types:
+
+  class Constraint:
+
+    @property
+    def name(self):
+      pass
+
+    @property
+    def owner_space(self):
+      pass
+
+  class Scene:
+    pass
+
+  class Object:
+
+    @property
+    def name(self) -> str:
+      raise NotImplementedError()
+
+    @property
+    def parent(self) -> types.Object | None:
+      pass
+
+    @property
+    def parent_bone(self) -> types.Bone | None:
+      pass
+
+    @property
+    def data(self):
+      pass
+
+    @property
+    def pose(self):
+      pass
+
+    @property
+    def matrix_world(self) -> mathutils.Matrix:
+      raise NotImplementedError()
+
+    @matrix_world.setter
+    def matrix_world(self, _) -> mathutils.Matrix:
+      raise NotImplementedError()
+
+    def select_set(self, _):
+      pass
+
+    def to_mesh(self):
+      pass
+
+    def evaluated_get(self, _) -> types.Object:
+      pass
+
+    @property
+    def mode(self) -> str:
+      return 'OBJECT'
+
+    @property
+    def type(self):
+      pass
+
+    def update_from_editmode(self):
+      pass
+
+  class Bone:
+
+    @property
+    def name(self) -> str:
+      raise NotImplementedError()
+
+    @property
+    def parent(self) -> types.Bone | None:
+      pass
+
+    @property
+    def matrix_local(self) -> mathutils.Matrix:
+      raise NotImplementedError()
+
+    @property
+    def matrix(self) -> mathutils.Matrix:
+      raise NotImplementedError()
+
+  class bpy_struct:
+    pass
+
+  class Context:
+
+    @property
+    def scene(self) -> types.Scene:
+      pass
+
+  class Light:
+
+    @property
+    def type(self):
+      pass
+
+    @property
+    def use_shadow(self):
+      pass
+
+    @property
+    def color(self) -> mathutils.Color:
+      raise NotImplementedError()
+
+    @property
+    def linear_attenuation(self):
+      pass
+
+    @property
+    def quadratic_attenuation(self):
+      pass
+
+  class LimitRotationConstraint(Constraint):
+    pass
+
+  class LimitLocationConstraint(Constraint):
+    pass
+
+  class Material:
+
+    @property
+    def name(self) -> str:
+      raise NotImplementedError()
+
+    @property
+    def specular_intensity(self):
+      pass
+
+    @property
+    def metallic(self):
+      pass
+
+    @property
+    def roughness(self) -> float:
+      raise NotImplementedError()
+
+    @property
+    def diffuse_color(self) -> Sequence[float]:
+      raise NotImplementedError()
+
+  class Mesh:
+
+    @property
+    def name(self) -> str:
+      raise NotImplementedError()
+
+    def calc_loop_triangles(self):
+      pass
+
+    @property
+    def uv_layers(self) -> Any:
+      raise NotImplementedError()
+
+    @property
+    def loop_triangles(self) -> Collection[Any]:
+      raise NotImplementedError()
+
+    @property
+    def vertices(self) -> Any:
+      raise NotImplementedError()
+
+
+class ops:
+
+  class object:
+
+    @staticmethod
+    def select_all(action):
+      pass
+
+  class export_mesh:
+
+    @classmethod
+    def stl(
+        cls, filepath, use_selection, use_mesh_modifiers, axis_forward, axis_up
+    ):
+      pass