Version 2.1.2: Python bindings, OBJ assets support, bugfixes.
PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
This commit is contained in:
Saran Tunyasuvunakool
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# Copyright 2022 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ==============================================================================
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"""Install script for MuJoCo."""
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import fnmatch
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import os
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import platform
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import random
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import re
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import shutil
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import string
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import subprocess
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import sys
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import sysconfig
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import setuptools
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from setuptools import find_packages
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from setuptools import setup
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from setuptools.command import build_ext
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__version__ = '2.1.2'
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MUJOCO_CMAKE = 'MUJOCO_CMAKE'
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MUJOCO_CMAKE_ARGS = 'MUJOCO_CMAKE_ARGS'
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MUJOCO_PATH = 'MUJOCO_PATH'
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EXT_PREFIX = 'mujoco.'
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def get_long_description():
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"""Creates a long description for the package from bundled markdown files."""
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current_dir = os.path.dirname('__file__')
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with open(os.path.join(current_dir, 'README.md')) as f:
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description = f.read()
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try:
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with open(os.path.join(current_dir, 'LICENSES_THIRD_PARTY.md')) as f:
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description = f'{description}\n{f.read()}'
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except FileNotFoundError:
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pass
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return description
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def get_mujoco_lib_pattern():
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if platform.system() == 'Windows':
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return 'mujoco*.lib'
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elif platform.system() == 'Darwin':
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return 'libmujoco*.dylib'
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else:
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return 'libmujoco*.so*'
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def get_external_lib_patterns():
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if platform.system() == 'Windows':
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return ['mujoco*.dll']
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elif platform.system() == 'Darwin':
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return ['libmujoco*.dylib']
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else:
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return ['libmujoco*.so*', 'libglew*.so']
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def start_and_end(iterable):
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it = iter(iterable)
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while True:
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try:
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first = next(it)
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second = next(it)
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yield first, second
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except StopIteration:
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return
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def tokenize_quoted_substr(input_string, quote_char, placeholders=None):
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"""Replace quoted substrings with random text placeholders with no spaces."""
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# Matches quote characters not proceded with a backslash.
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pattern = re.compile(r'(?<!\\)' + quote_char)
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quote_positions = [m.start() for m in pattern.finditer(input_string)]
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if len(quote_positions) % 2:
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raise ValueError(f'unbalanced quotes {quote_char}...{quote_char}')
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output_string = ''
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placeholders = placeholders if placeholders is not None else dict()
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prev_end = -1
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for start, end in start_and_end(quote_positions):
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output_string += input_string[prev_end+1:start]
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while True:
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placeholder = ''.join(random.choices(string.ascii_lowercase, k=5))
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if placeholder not in input_string and placeholder not in output_string:
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break
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output_string += placeholder
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placeholders[placeholder] = input_string[start+1:end]
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prev_end = end
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output_string += input_string[prev_end+1:]
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return output_string, placeholders
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def parse_cmake_args_from_environ(env_var_name=MUJOCO_CMAKE_ARGS):
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"""Parses CMake arguments from an environment variable."""
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raw_args = os.environ.get(env_var_name, '').strip()
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unquoted, placeholders = tokenize_quoted_substr(raw_args, '"')
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unquoted, placeholders = tokenize_quoted_substr(unquoted, "'", placeholders)
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parts = re.split(r'\s+', unquoted.strip())
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out = []
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for part in parts:
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for k, v in placeholders.items():
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part = part.replace(k, v)
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part = part.replace('\\"', '"').replace("\\'", "'")
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if part:
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out.append(part)
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return out
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class CMakeExtension(setuptools.Extension):
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"""A Python extension that has been prebuilt by CMake.
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We do not want distutils to handle the build process for our extensions, so
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so we pass an empty list to the super constructor.
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"""
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def __init__(self, name):
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super().__init__(name, sources=[])
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class BuildCMakeExtension(build_ext.build_ext):
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"""Uses CMake to build extensions."""
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def run(self):
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self._mujoco_library_path, self._mujoco_include_path = self._find_mujoco()
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self._configure_cmake()
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for ext in self.extensions:
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assert ext.name.startswith(EXT_PREFIX)
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assert '.' not in ext.name[len(EXT_PREFIX):]
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self.build_extension(ext)
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self._copy_external_libraries()
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self._copy_mujoco_headers()
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def _find_mujoco(self):
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if MUJOCO_PATH not in os.environ:
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raise RuntimeError(f'{MUJOCO_PATH} environment variable is not set')
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library_path = None
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include_path = None
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for directory, _, filenames in os.walk(os.environ['MUJOCO_PATH']):
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if fnmatch.filter(filenames, get_mujoco_lib_pattern()):
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library_path = directory
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if fnmatch.filter(filenames, 'mujoco.h'):
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include_path = directory
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if library_path and include_path:
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return library_path, include_path
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raise RuntimeError('Cannot find MuJoCo library and/or include paths')
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def _copy_external_libraries(self):
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dst = os.path.dirname(self.get_ext_fullpath(self.extensions[0].name))
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for directory, _, filenames in os.walk(os.environ['MUJOCO_PATH']):
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for pattern in get_external_lib_patterns():
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for filename in fnmatch.filter(filenames, pattern):
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shutil.copyfile(os.path.join(directory, filename),
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os.path.join(dst, filename))
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def _copy_mujoco_headers(self):
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dst = os.path.join(
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os.path.dirname(self.get_ext_fullpath(self.extensions[0].name)),
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'include')
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os.mkdir(dst)
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for directory, _, filenames in os.walk(self._mujoco_include_path):
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for filename in fnmatch.filter(filenames, '*.h'):
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shutil.copyfile(os.path.join(directory, filename),
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os.path.join(dst, filename))
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def _configure_cmake(self):
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"""Check for CMake."""
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cmake = os.environ.get(MUJOCO_CMAKE, 'cmake')
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build_cfg = 'Debug' if self.debug else 'Release'
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cmake_module_path = os.path.join(os.path.dirname(__file__), 'cmake')
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cmake_args = [
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f'-DPython3_ROOT_DIR={sys.prefix}',
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f'-DPython3_EXECUTABLE={sys.executable}',
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f'-DMUJOCO_LIBRARY_DIR={self._mujoco_library_path}',
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f'-DMUJOCO_INCLUDE_DIR={self._mujoco_include_path}',
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f'-DCMAKE_MODULE_PATH={cmake_module_path}',
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f'-DCMAKE_BUILD_TYPE={build_cfg}',
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f'-DCMAKE_LIBRARY_OUTPUT_DIRECTORY={self.build_temp}',
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f'-DCMAKE_INTERPROCEDURAL_OPTIMIZATION={"OFF" if self.debug else "ON"}',
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'-DCMAKE_Fortran_COMPILER:STRING=',
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'-DCMAKE_VERBOSE_MAKEFILE=ON',
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'-DBUILD_TESTING=OFF',
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]
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if platform.system() != 'Windows':
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cmake_args.extend([
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f'-DPython3_LIBRARY={sysconfig.get_paths()["stdlib"]}',
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f'-DPython3_INCLUDE_DIR={sysconfig.get_paths()["include"]}',
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])
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if platform.system() == 'Darwin' and os.environ.get('ARCHFLAGS'):
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osx_archs = []
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if '-arch x86_64' in os.environ['ARCHFLAGS']:
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osx_archs.append('x86_64')
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if '-arch arm64' in os.environ['ARCHFLAGS']:
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osx_archs.append('arm64')
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cmake_args.append(f'-DCMAKE_OSX_ARCHITECTURES={";".join(osx_archs)}')
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cmake_args.extend(parse_cmake_args_from_environ())
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os.makedirs(self.build_temp, exist_ok=True)
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if platform.system() == 'Windows':
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cmake_args = [arg.replace('\\', '/') for arg in cmake_args]
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print('Configuring CMake with the following arguments:')
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for arg in cmake_args:
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print(f' {arg}')
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subprocess.check_call(
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[cmake] + cmake_args +
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[os.path.join(os.path.dirname(__file__), 'mujoco')],
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cwd=self.build_temp)
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print('Building all extensions with CMake')
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subprocess.check_call(
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[cmake, '--build', '.', f'-j{os.cpu_count()}', '--config', build_cfg],
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cwd=self.build_temp)
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def build_extension(self, ext):
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dest_path = self.get_ext_fullpath(ext.name)
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build_path = os.path.join(self.build_temp, os.path.basename(dest_path))
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subprocess.check_call(['cp', build_path, dest_path])
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def find_data_files(package_dir, patterns):
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"""Recursively finds files whose names match the given shell patterns."""
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paths = set()
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for directory, _, filenames in os.walk(package_dir):
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for pattern in patterns:
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for filename in fnmatch.filter(filenames, pattern):
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# NB: paths must be relative to the package directory.
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relative_dirpath = os.path.relpath(directory, package_dir)
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paths.add(os.path.join(relative_dirpath, filename))
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return list(paths)
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setup(
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name='mujoco',
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version=__version__,
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author='DeepMind',
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author_email='mujoco@deepmind.com',
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description='MuJoCo Physics Simulator',
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long_description=get_long_description(),
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long_description_content_type='text/markdown',
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url='https://github.com/deepmind/mujoco',
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license='Apache License 2.0',
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classifiers=[
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'License :: OSI Approved :: Apache Software License',
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],
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cmdclass=dict(build_ext=BuildCMakeExtension),
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ext_modules=[
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CMakeExtension('mujoco._callbacks'),
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CMakeExtension('mujoco._constants'),
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CMakeExtension('mujoco._enums'),
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CMakeExtension('mujoco._errors'),
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CMakeExtension('mujoco._functions'),
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CMakeExtension('mujoco._render'),
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CMakeExtension('mujoco._rollout'),
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CMakeExtension('mujoco._structs'),
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],
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python_requires='>=3.7',
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install_requires=[
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'absl-py',
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'glfw',
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'numpy',
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'pyopengl',
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],
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tests_require=[
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'absl-py',
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'glfw',
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'numpy',
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'pyopengl',
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],
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test_suite='mujoco',
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packages=find_packages(),
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package_data={
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'mujoco':
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find_data_files(
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package_dir='mujoco',
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patterns=[
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'libmujoco*.dylib',
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'libmujoco*.so*',
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'mujoco*.dll',
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'libglew*.so*',
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'mujoco.h',
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'mj*.h',
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]),
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},
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)
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