WIP Python bindings for Simulate tested on Linux only

simulate/main.py

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+# 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()