WIP Python bindings for Simulate tested on Linux only

simulate/CMakeLists.txt

@@ -117,6 +117,10 @@ target_compile_options(libsimulate PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
 target_link_libraries(libsimulate PUBLIC glfw lodepng mujoco::mujoco)
 target_link_options(libsimulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
 
+set_target_properties(
+  mjsimulate PROPERTIES VERSION "${mujoco_VERSION}" PUBLIC_HEADER "simulate.h"
+)
+
 if(APPLE)
   target_sources(libsimulate PRIVATE macos_save.mm)
   target_link_libraries(libsimulate PUBLIC "-framework Cocoa")
@@ -219,6 +223,17 @@ if(_INSTALL_SIMULATE)
     MUJOCO_ENABLE_RPATH
   )
 
+  target_add_rpath(
+    TARGETS
+    mjsimulate
+    INSTALL_DIRECTORY
+    "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}"
+    LIB_DIRS
+    "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}"
+    DEPENDS
+    MUJOCO_ENABLE_RPATH
+  )
+
   install(
     TARGETS simulate
     EXPORT ${PROJECT_NAME}
@@ -229,6 +244,16 @@ if(_INSTALL_SIMULATE)
     PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} COMPONENT simulate
   )
 
+  install(
+    TARGETS mjsimulate
+    EXPORT ${PROJECT_NAME}
+    RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT simulate
+    LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
+    ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
+    BUNDLE DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT simulate
+    PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/mujoco COMPONENT simulate
+  )
+
   if(NOT MUJOCO_SIMULATE_USE_SYSTEM_GLFW)
     # We downloaded GLFW. Depending if it is a static or shared LIBRARY we might
     # need to install it.

simulate/main.py

@@ -0,0 +1,30 @@
+# Copyright 2022 DeepMind Technologies Limited
+#
+# 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.
+# ==============================================================================
+"""Python version of the simulate C++ sample"""
+
+import mujoco
+from mujoco.simulate import run_simulate_and_physics
+import sys
+
+if __name__ == '__main__':
+  # print version, check compatibility
+  print('MuJoCo version {}'.format(mujoco.mj_versionString()))
+  if mujoco.mjVERSION_HEADER != mujoco.mj_version():
+    raise mujoco.FatalError('Headers and library have different versions')
+
+  if len(sys.argv) > 1:
+    run_simulate_and_physics(sys.argv[1])
+  else:
+    run_simulate_and_physics()