Don't pollute the global namespace when using mjpython.
Fixes #2265 PiperOrigin-RevId: 713442833 Change-Id: If155d9f57d4deef8b848478ebd8077a00417d5c5
This commit is contained in:
Saran Tunyasuvunakool
committed by
Copybara-Service
Copybara-Service
parent
357ea024c0
commit
40ef08c8ed
@@ -12,6 +12,7 @@ Python bindings
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the computation. The thread pool can be reused across calls, but then the function cannot be called simultaneously
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from multiple threads. To run multiple threaded rollouts simultaneously, use the new class ``Rollout`` which
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encapsulates the thread pool. Contribution by :github:user:`aftersomemath`.
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- Fix global namespace pollution when using ``mjpython`` (:github:issue:`2265`).
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General
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^^^^^^^
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+135
-108
@@ -86,95 +86,113 @@ void* mjpython_pymain(void* vargs) {
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// Set up the condition variable to pass control back to the macOS main thread.
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gil = cpython.PyGILState_Ensure();
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cpython.PyRun_SimpleStringFlags("import threading; cond = threading.Condition()", nullptr);
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cpython.PyRun_SimpleStringFlags(R"(
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def _mjpython_make_cond():
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# Don't pollute the global namespace.
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global _mjpython_make_cond
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del _mjpython_make_cond
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import threading
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global cond
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cond = threading.Condition()
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_mjpython_make_cond()
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)", nullptr);
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py_initialized.store(true);
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// Wait until GLFW is initialized on macOS main thread, set up the queue and an atexit hook
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// to enqueue a termination flag upon exit.
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cpython.PyRun_SimpleStringFlags(R"(
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import atexit
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def _mjpython_init():
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# Don't pollute the global namespace.
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global _mjpython_init
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del _mjpython_init
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# The mujoco.viewer module should only be imported here after glfw.init() in the macOS main thread.
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with cond:
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cond.wait()
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import mujoco.viewer
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import atexit
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import threading
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# Similar to a queue.Queue(maxsize=1), but where only one active task is allowed at a time.
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# With queue.Queue(1), another item is allowed to be enqueued before task_done is called.
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class _MjPythonImpl(mujoco.viewer._MjPythonBase):
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# The mujoco.viewer module should only be imported after glfw.init() in the macOS main thread.
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with cond:
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cond.wait()
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import mujoco.viewer
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# Termination statuses
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NOT_TERMINATED = 0
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TERMINATION_REQUESTED = 1
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TERMINATION_ACCEPTED = 2
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TERMINATED = 3
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# Similar to a queue.Queue(maxsize=1), but where only one active task is allowed at a time.
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# With queue.Queue(1), another item is allowed to be enqueued before task_done is called.
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class _MjPythonImpl(mujoco.viewer._MjPythonBase):
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def __init__(self):
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self._cond = threading.Condition()
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self._task = None
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self._termination = self.__class__.NOT_TERMINATED
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self._busy = False
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# Termination statuses
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NOT_TERMINATED = 0
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TERMINATION_REQUESTED = 1
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TERMINATION_ACCEPTED = 2
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TERMINATED = 3
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def launch_on_ui_thread(
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self,
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model,
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data,
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handle_return,
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key_callback,
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show_left_ui,
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show_right_ui,
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):
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with self._cond:
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if self._busy or self._task is not None:
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raise RuntimeError('another MuJoCo viewer is already open')
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else:
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self._task = (
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model,
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data,
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handle_return,
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key_callback,
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show_left_ui,
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show_right_ui,
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)
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def __init__(self):
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self._cond = threading.Condition()
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self._task = None
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self._termination = self.__class__.NOT_TERMINATED
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self._busy = False
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def launch_on_ui_thread(
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self,
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model,
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data,
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handle_return,
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key_callback,
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show_left_ui,
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show_right_ui,
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):
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with self._cond:
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if self._busy or self._task is not None:
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raise RuntimeError('another MuJoCo viewer is already open')
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else:
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self._task = (
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model,
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data,
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handle_return,
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key_callback,
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show_left_ui,
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show_right_ui,
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)
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self._cond.notify()
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def terminate(self):
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with self._cond:
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self._termination = self.__class__.TERMINATION_REQUESTED
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self._cond.notify()
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self._cond.wait_for(
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lambda: self._termination == self.__class__.TERMINATED)
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def get(self):
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with self._cond:
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self._cond.wait_for(
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lambda: self._task is not None or self._termination)
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if self._termination:
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if self._termination == self.__class__.TERMINATION_REQUESTED:
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self._termination = self.__class__.TERMINATION_ACCEPTED
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return None
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task = self._task
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self._busy = True
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self._task = None
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return task
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def done(self):
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with self._cond:
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self._busy = False
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if self._termination == self.__class__.TERMINATION_ACCEPTED:
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self._termination = self.__class__.TERMINATED
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self._cond.notify()
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def terminate(self):
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with self._cond:
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self._termination = self.__class__.TERMINATION_REQUESTED
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self._cond.notify()
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self._cond.wait_for(
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lambda: self._termination == self.__class__.TERMINATED)
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def get(self):
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with self._cond:
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self._cond.wait_for(
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lambda: self._task is not None or self._termination)
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mujoco.viewer._MJPYTHON = _MjPythonImpl()
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atexit.register(mujoco.viewer._MJPYTHON.terminate)
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if self._termination:
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if self._termination == self.__class__.TERMINATION_REQUESTED:
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self._termination = self.__class__.TERMINATION_ACCEPTED
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return None
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with cond:
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cond.notify()
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task = self._task
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self._busy = True
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self._task = None
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return task
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def done(self):
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with self._cond:
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self._busy = False
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if self._termination == self.__class__.TERMINATION_ACCEPTED:
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self._termination = self.__class__.TERMINATED
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self._cond.notify()
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mujoco.viewer._MJPYTHON = _MjPythonImpl()
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atexit.register(mujoco.viewer._MJPYTHON.terminate)
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del _MjPythonImpl # Don't pollute globals for user script.
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with cond:
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cond.notify()
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del cond # Don't pollute globals for user script.
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_mjpython_init()
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)", nullptr);
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// Run the Python interpreter main loop.
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@@ -283,47 +301,56 @@ int main(int argc, char** argv) {
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// to finish setting up _MJPYTHON, then serve incoming viewer launch requests.
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PyGILState_STATE gil = cpython.PyGILState_Ensure();
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cpython.PyRun_SimpleStringFlags(R"(
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import ctypes
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def _mjpython_main():
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# Don't pollute the global namespace.
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global _mjpython_main
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del _mjpython_main
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# GLFW must be initialized on the OS main thread (i.e. here).
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import glfw
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import mujoco.viewer
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import ctypes
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glfw.init()
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glfw.poll_events()
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ctypes.CDLL(None).mjpython_hide_dock_icon()
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# GLFW must be initialized on the OS main thread (i.e. here).
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import glfw
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import mujoco.viewer
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# Wait for Python main thread to finish setting up _MJPYTHON
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with cond:
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cond.notify()
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cond.wait()
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glfw.init()
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glfw.poll_events()
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ctypes.CDLL(None).mjpython_hide_dock_icon()
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while True:
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try:
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# Wait for an incoming payload.
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task = mujoco.viewer._MJPYTHON.get()
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# Wait for Python main thread to finish setting up _MJPYTHON
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global cond
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with cond:
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cond.notify()
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cond.wait()
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del cond
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# None means that we are exiting.
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if task is None:
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glfw.terminate()
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break
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while True:
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try:
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# Wait for an incoming payload.
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task = mujoco.viewer._MJPYTHON.get()
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# Otherwise, launch the viewer.
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model, data, handle_return, key_callback, show_left_ui, show_right_ui = task
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ctypes.CDLL(None).mjpython_show_dock_icon()
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mujoco.viewer._launch_internal(
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model,
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data,
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run_physics_thread=False,
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handle_return=handle_return,
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key_callback=key_callback,
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show_left_ui=show_left_ui,
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show_right_ui=show_right_ui,
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)
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ctypes.CDLL(None).mjpython_hide_dock_icon()
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# None means that we are exiting.
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if task is None:
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glfw.terminate()
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break
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finally:
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mujoco.viewer._MJPYTHON.done()
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# Otherwise, launch the viewer.
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model, data, handle_return, key_callback, show_left_ui, show_right_ui = task
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ctypes.CDLL(None).mjpython_show_dock_icon()
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mujoco.viewer._launch_internal(
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model,
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data,
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run_physics_thread=False,
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handle_return=handle_return,
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key_callback=key_callback,
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show_left_ui=show_left_ui,
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show_right_ui=show_right_ui,
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)
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ctypes.CDLL(None).mjpython_hide_dock_icon()
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finally:
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mujoco.viewer._MJPYTHON.done()
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_mjpython_main()
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)", nullptr);
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cpython.PyGILState_Release(gil);
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