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mujoco introspect

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This commit is contained in:
Taylor Howell
2026-04-24 16:08:09 +01:00
parent f0b6120771
commit fefbc2c407
2 changed files with 182 additions and 34 deletions
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.readthedocs.yml
+6 -34
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@@ -20,46 +20,18 @@ build:
- asdf install uv latest
- asdf global uv latest
- uv venv $READTHEDOCS_VIRTUALENV_PATH
# install doc requirements and build tools
# install doc requirements
- |
UV_PROJECT_ENVIRONMENT=$READTHEDOCS_VIRTUALENV_PATH \
uv pip install \
-r doc/requirements.txt \
cmake pip build setuptools absl-py
# build and install MuJoCo C library
pip setuptools absl-py
# generate and install doc-only mujoco stubs (no C build required)
- python doc/make_mujoco_stubs.py python/mujoco_doc
- |
VENV=$READTHEDOCS_VIRTUALENV_PATH && \
$VENV/bin/cmake -B build \
-DCMAKE_BUILD_TYPE=Release \
-DCMAKE_INSTALL_PREFIX=$VENV \
-DMUJOCO_BUILD_EXAMPLES=OFF \
-DMUJOCO_BUILD_SIMULATE=OFF \
-DMUJOCO_BUILD_TESTS=OFF \
-DMUJOCO_TEST_PYTHON_UTIL=OFF && \
$VENV/bin/cmake --build build --parallel && \
$VENV/bin/cmake --install build
# copy plugins
- |
mkdir -p $READTHEDOCS_VIRTUALENV_PATH/mujoco_plugin && \
cp build/lib/libactuator.* \
build/lib/libelasticity.* \
build/lib/libsensor.* \
$READTHEDOCS_VIRTUALENV_PATH/mujoco_plugin/ && \
cp build/lib/libsdf_plugin.* \
$READTHEDOCS_VIRTUALENV_PATH/mujoco_plugin/ || true
# build and install Python bindings from source
- |
export VIRTUAL_ENV=$READTHEDOCS_VIRTUALENV_PATH \
PATH=$READTHEDOCS_VIRTUALENV_PATH/bin:$PATH && \
cd python && bash make_sdist.sh && cd dist && \
MUJOCO_PATH=$READTHEDOCS_VIRTUALENV_PATH \
MUJOCO_PLUGIN_PATH=$READTHEDOCS_VIRTUALENV_PATH/mujoco_plugin \
MUJOCO_CMAKE_ARGS="-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF \
-DGLFW_BUILD_WAYLAND=OFF -DGLFW_BUILD_X11=OFF" \
UV_PROJECT_ENVIRONMENT=$READTHEDOCS_VIRTUALENV_PATH \
uv pip install mujoco-*.tar.gz && \
cd ../..
# install mjx and mujoco_warp
uv pip install --no-deps python/mujoco_doc
# install mjx and mujoco_warp (mujoco dep satisfied by stubs above)
- UV_PROJECT_ENVIRONMENT=$READTHEDOCS_VIRTUALENV_PATH uv pip install -e mjx
- |
find mjx/mujoco/mjx/third_party/mujoco_warp -type f -exec \
doc/make_mujoco_stubs.py
+176
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@@ -0,0 +1,176 @@
# Copyright 2026 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.
# ==============================================================================
"""Generates a pip-installable doc-only mujoco stub package.
This creates a lightweight pure-Python package that provides the mujoco
public API surface (enums, constants) without C extensions, for use by
Sphinx autodoc during documentation builds.
Usage:
python doc/make_mujoco_stubs.py <output_dir>
"""
import glob
import os
import re
import shutil
import sys
import textwrap
def _read_version(repo_root):
"""Reads the mujoco version from python/pyproject.toml."""
with open(os.path.join(repo_root, 'python', 'pyproject.toml')) as f:
for line in f:
m = re.match(r'version\s*=\s*"([^"]+)"', line.strip())
if m:
return m.group(1)
raise RuntimeError('Could not find version in python/pyproject.toml')
def _parse_constants(repo_root):
"""Parses numeric #define constants from MuJoCo C headers."""
consts = {}
for path in glob.glob(os.path.join(repo_root, 'include', 'mujoco', '*.h')):
with open(path) as f:
for line in f:
m = re.match(
r'\s*#define\s+(mj[A-Z]\w*)\s+([\d.eE+\-]+)\s', line)
if m and not m.group(2).endswith('f'):
consts[m.group(1)] = m.group(2)
return consts
_PYPROJECT_TEMPLATE = textwrap.dedent("""\
[build-system]
requires = ["setuptools"]
build-backend = "setuptools.build_meta"
[project]
name = "mujoco"
version = "{version}"
requires-python = ">=3.10"
dependencies = []
[tool.setuptools]
include-package-data = false
[tool.setuptools.packages.find]
include = ["mujoco*"]
""")
_INIT_PY_TEMPLATE = textwrap.dedent("""\
\"\"\"Doc-only stub for MuJoCo. Provides enums and constants for autodoc.\"\"\"
import enum
import sys
__path__ = __import__('pkgutil').extend_path(__path__, __name__)
from mujoco.introspect.enums import ENUMS
_mod = sys.modules[__name__]
for _n, _d in ENUMS.items():
_cls = enum.IntEnum(_n, list(_d.values.items()))
setattr(_mod, _n, _cls)
for _vn, _vv in _d.values.items():
setattr(_mod, _vn, _vv)
{constants}
try:
from importlib.metadata import version as _v
__version__ = _v('mujoco')
except Exception:
__version__ = '0.0.0'
def mj_versionString():
return __version__
# Stub types for C extensions (MjModel, MjData, mj_* functions, etc.)
# needed by MJX and mujoco_warp imports during Sphinx autodoc.
# Each accessed name gets a dynamically created class so that Sphinx
# renders the real type name instead of "Mock".
_mock_cache = {{}}
def _make_mock_meta(mock_name):
class _MockMeta(type):
def __getattr__(cls, name):
return _make_mock(f'{{mock_name}}.{{name}}')
def __instancecheck__(cls, instance):
return True
def __repr__(cls):
return mock_name
return _MockMeta
def _make_mock(qualname):
if qualname in _mock_cache:
return _mock_cache[qualname]
basename = qualname.rsplit('.', 1)[-1]
meta = _make_mock_meta(qualname)
cls = meta(basename, (), {{
'__init__': lambda self, *a, **kw: None,
'__call__': lambda self, *a, **kw: _make_mock(qualname)(),
'__getattr__': lambda self, name: _make_mock(f'{{qualname}}.{{name}}'),
'__class_getitem__': classmethod(lambda cls, item: cls),
'__iter__': lambda self: iter([]),
'__bool__': lambda self: False,
'__repr__': lambda self: qualname,
'__module__': 'mujoco',
'__qualname__': basename,
}})
_mock_cache[qualname] = cls
return cls
def __getattr__(name):
return _make_mock(name)
""")
def main():
if len(sys.argv) != 2:
print(f'Usage: {sys.argv[0]} <output_dir>', file=sys.stderr)
sys.exit(1)
output_dir = sys.argv[1]
repo_root = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
version = _read_version(repo_root)
consts = _parse_constants(repo_root)
mujoco_dir = os.path.join(output_dir, 'mujoco')
os.makedirs(mujoco_dir, exist_ok=True)
# Write pyproject.toml.
with open(os.path.join(output_dir, 'pyproject.toml'), 'w') as f:
f.write(_PYPROJECT_TEMPLATE.format(version=version))
# Write mujoco/__init__.py with constants inlined.
constants_str = '\n'.join(
f'{k} = {v}' for k, v in sorted(consts.items()))
with open(os.path.join(mujoco_dir, '__init__.py'), 'w') as f:
f.write(_INIT_PY_TEMPLATE.format(constants=constants_str))
# Copy introspect/ into the package.
introspect_src = os.path.join(repo_root, 'python', 'mujoco', 'introspect')
introspect_dst = os.path.join(mujoco_dir, 'introspect')
if os.path.exists(introspect_dst):
shutil.rmtree(introspect_dst)
shutil.copytree(introspect_src, introspect_dst)
print(f'Generated doc-only mujoco {version} package at {output_dir}')
if __name__ == '__main__':
main()