Python 3.7 reaches end-of-life on 27 June 2023 (https://devguide.python.org/versions/), and future versions of MuJoCo (after 2.3.6) will no longer support it.
PiperOrigin-RevId: 543594006
Change-Id: I66a7db3dab5d08f2fc52912c43e1532080600fc8
Going forward, the version number at head will be kept one ahead of the latest released version. The rationale behind this change is so that it is clear that the source code at head is more recent.
PiperOrigin-RevId: 527687981
Change-Id: I7982ecd0b99ad70dccec6a8ffe86629754558bda
The `launch_passive` function launches the GUI viewer in a non-blocking manner, allowing the Python script or REPL to continue execution. The viewer is automatically kept up to date with any subsequent modifications to mjModel and mjData.
Note that when run inside a REPL (including IPython), `launch_passive` is functionally identical to `launch_repl`.
On Linux and Windows, this is achieved by spawning a new thread and launching the GUI there.
On macOS, this is not possible as all Cocoa API calls must be made on the "macOS main thread", which is always the first thread launched in a process and carries the `com.apple.main-thread` dispatch queue. We also cannot simply trampoline from a Python script on the main thread into the user's script on a side thread because CPython's signal handler can only be installed on the "Python main thread". Putting the user's script in a side thread means that it cannot e.g. gracefully handle SIGINT by catching a KeyboardInterrupt exception. To work around this, we ship a custom Python launcher on macOS called `mjpython`. This launcher is a native binary that spawns a pthread and initialize the Python interpreter on that thread, thus allowing "Python main thread" and "macOS main thread" to represent two distinct threads. From Python's point of view, the "macOS main thread" is a secondary thread that runs a loop that continuously empties a Queue of (mjModel, mjData) and launches a viewer.
PiperOrigin-RevId: 517167868
Change-Id: Icac9d2126bbb4760d47e0b9300e0a979cffa4338
We currently skip building the Python bindings on Windows since MSVC takes an hour+ on them. Internally, we use Clang for our Windows build, so are not affected by this issue.
PiperOrigin-RevId: 450914163
Change-Id: I329aab28f3a2aeb1896242a8712f89d8ecff2f92
Up the mujoco bindings version to 2.1.2.post2.
Keep the capsule deconstructor which calls mj_freeContext, because mjr_freeContext is idempotent.
PiperOrigin-RevId: 435714183
Change-Id: I9f8615f85f2b3e383f447f6684e61200039d57d4
Saran Tunyasuvunakool