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simulate python: fix cmake, glfw usage, update Python version of physics loop

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This commit is contained in:
Levi Burner
2022-10-04 14:37:06 -04:00
parent 0b6bf42840
commit 95a4b1c551
12 changed files with 219 additions and 174 deletions
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python/mujoco/simulate.cc
+32 -38
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@@ -34,107 +34,101 @@ namespace {
namespace py = ::pybind11;
const auto simulate_doc = R"(
Python wrapper for the Simulate class
)";
// We define SimulateWrapper here instead of in structs because
// we do not want to make _structs dependent on gflw
PYBIND11_MODULE(_simulate, pymodule) {
namespace py = ::pybind11;
py::class_<mujoco::raw::Simulate>(pymodule, "Simulate")
py::class_<mujoco::Simulate>(pymodule, "Simulate")
.def(py::init<>())
.def("renderloop",
[](mujoco::raw::Simulate& simulate) {
[](mujoco::Simulate& simulate) {
simulate.renderloop();
},
py::call_guard<py::gil_scoped_release>())
.def("load",
[](mujoco::raw::Simulate& simulate, std::string filename, const MjModelWrapper& m, MjDataWrapper& d, bool delete_old_m_d) {
[](mujoco::Simulate& simulate, std::string filename, const MjModelWrapper& m, MjDataWrapper& d) {
const raw::MjModel* m_ptr = m.get();
raw::MjData* d_ptr = d.get();
simulate.load(filename.c_str(), (mjModel*)m_ptr, d_ptr, delete_old_m_d);
simulate.load(filename.c_str(), (mjModel*)m_ptr, d_ptr);
},
py::call_guard<py::gil_scoped_release>())
.def("applyposepertubations", &mujoco::raw::Simulate::applyposepertubations)
.def("applyforceperturbations", &mujoco::raw::Simulate::applyforceperturbations)
.def("applyposepertubations", &mujoco::Simulate::applyposepertubations)
.def("applyforceperturbations", &mujoco::Simulate::applyforceperturbations)
.def("lock", // TODO wrap mutex properly as as seperate pybind11 object?
[](mujoco::raw::Simulate& simulate) {
[](mujoco::Simulate& simulate) {
simulate.mtx.lock();
},
py::call_guard<py::gil_scoped_release>())
.def("unlock",
[](mujoco::raw::Simulate& simulate) {
[](mujoco::Simulate& simulate) {
simulate.mtx.unlock();
},
py::call_guard<py::gil_scoped_release>())
.def_readwrite("ctrlnoisestd", &mujoco::raw::Simulate::ctrlnoisestd)
.def_readwrite("ctrlnoiserate", &mujoco::raw::Simulate::ctrlnoiserate)
.def_readwrite("slow_down", &mujoco::raw::Simulate::slow_down)
.def_readwrite("speed_changed", &mujoco::raw::Simulate::speed_changed)
.def("getrefreshRate",
[](mujoco::raw::Simulate& simulate) {
return simulate.vmode.refreshRate;
})
.def_readwrite("ctrlnoisestd", &mujoco::Simulate::ctrlnoisestd)
.def_readwrite("ctrlnoiserate", &mujoco::Simulate::ctrlnoiserate)
.def_readwrite("realtimeindex", &mujoco::Simulate::realTimeIndex)
.def_readwrite("speedchanged", &mujoco::Simulate::speedChanged)
.def_readwrite("measuredslowdown", &mujoco::Simulate::measuredSlowdown)
.def_readwrite("refreshrate", &mujoco::Simulate::refreshRate)
.def_readwrite("busywait", &mujoco::Simulate::busywait)
.def_readwrite("run", &mujoco::Simulate::run)
.def_readwrite("busywait", &mujoco::raw::Simulate::busywait)
.def_readwrite("run", &mujoco::raw::Simulate::run)
//.def_readwrite("exitrequest", &mujoco::raw::Simulate::exitrequest)
.def("getexitrequest",
[](mujoco::raw::Simulate& simulate) {
[](mujoco::Simulate& simulate) {
return simulate.exitrequest.load();
}
)
.def("setexitrequest",
[](mujoco::raw::Simulate& simulate, bool exitrequest) {
[](mujoco::Simulate& simulate, bool exitrequest) {
simulate.exitrequest.store(exitrequest);
}
)
// .def_readwrite("uiloadrequest", &mujoco::raw::Simulate::uiloadrequest)
.def("getuiloadrequest",
[](mujoco::raw::Simulate& simulate) {
[](mujoco::Simulate& simulate) {
return simulate.uiloadrequest.load();
}
)
.def("setuiloadrequest",
[](mujoco::raw::Simulate& simulate, int uiloadrequest) {
[](mujoco::Simulate& simulate, int uiloadrequest) {
simulate.uiloadrequest.store(uiloadrequest);
}
)
.def("uiloadrequest_fetch_sub",
[](mujoco::raw::Simulate& simulate, int arg) {
[](mujoco::Simulate& simulate, int arg) {
simulate.uiloadrequest.fetch_sub(arg);
}
)
// .def_readwrite("droploadrequest", &mujoco::raw::Simulate::droploadrequest)
.def("getdroploadrequest",
[](mujoco::raw::Simulate& simulate) {
[](mujoco::Simulate& simulate) {
return simulate.droploadrequest.load();
}
)
.def("setdroploadrequest",
[](mujoco::raw::Simulate& simulate, bool droploadrequest) {
[](mujoco::Simulate& simulate, bool droploadrequest) {
simulate.droploadrequest.store(droploadrequest);
}
)
.def("getdropfilename",
[](mujoco::raw::Simulate& simulate) {
[](mujoco::Simulate& simulate) {
return (char*)simulate.dropfilename;
}
)
.def("getfilename",
[](mujoco::raw::Simulate& simulate) {
[](mujoco::Simulate& simulate) {
return (char*)simulate.filename;
}
)
.def("setloadError",
[](mujoco::raw::Simulate& simulate, std::string& loadError) {
[](mujoco::Simulate& simulate, std::string& loadError) {
strncpy(simulate.loadError, loadError.c_str(), simulate.kMaxFilenameLength);
}
);
pymodule.def("setglfwdlhandle", [](std::uintptr_t dlhandle) { mujoco::setglfwdlhandle(reinterpret_cast<void*>(dlhandle)); });
}
} // namespace