Baruch Tabanpour
07cda5a3c4
PiperOrigin-RevId: 875901011 Change-Id: I2ba0734d9ca001ff91361aab6412fe370919344b
74 lines
2.0 KiB
Python
74 lines
2.0 KiB
Python
# Copyright 2025 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.
|
|
# ==============================================================================
|
|
|
|
import typing
|
|
from typing import Any
|
|
from mujoco.mjx.warp import render_context
|
|
from mujoco.mjx.warp import types
|
|
|
|
if not typing.TYPE_CHECKING:
|
|
# Runtime.
|
|
warp: Any = None
|
|
mujoco_warp: Any = None
|
|
mjwp_types: Any = None
|
|
WARP_INSTALLED: bool = False
|
|
|
|
# pylint: disable=g-import-not-at-top
|
|
try:
|
|
import warp
|
|
WARP_INSTALLED = True
|
|
except (ImportError, RuntimeError) as e:
|
|
print('Failed to import warp:', e)
|
|
WARP_INSTALLED = False
|
|
try:
|
|
from mujoco.mjx.third_party import mujoco_warp
|
|
from mujoco.mjx.third_party.mujoco_warp._src import types as mjwp_types
|
|
except (ImportError, RuntimeError) as e:
|
|
print('Failed to import mujoco_warp:', e)
|
|
pass
|
|
# pylint: enable=g-import-not-at-top
|
|
else:
|
|
# Only used for type checking.
|
|
class _WpStub:
|
|
|
|
def ScopedDevice(self, device: str): # pylint: disable=invalid-name
|
|
pass
|
|
|
|
def types(self):
|
|
pass
|
|
|
|
class _MjwpStub:
|
|
|
|
def put_model(self, *args, **kwargs):
|
|
pass
|
|
|
|
def make_data(self, *args, **kwargs):
|
|
pass
|
|
|
|
def step(self, *args, **kwargs):
|
|
pass
|
|
|
|
class _MjwpTypesStub:
|
|
def TileSet(self, *args, **kwargs): # pylint: disable=invalid-name
|
|
pass
|
|
|
|
def BlockDim(self, *args, **kwargs): # pylint: disable=invalid-name
|
|
pass
|
|
|
|
WARP_INSTALLED: bool = True
|
|
warp: Any = _WpStub()
|
|
mujoco_warp: Any = _MjwpStub()
|
|
mjwp_types: Any = _MjwpTypesStub()
|