Saran Tunyasuvunakool
90e14ac8d0
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
420 lines
14 KiB
Python
420 lines
14 KiB
Python
# Copyright 2022 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ==============================================================================
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"""Install script for MuJoCo."""
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import fnmatch
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import logging
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import os
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import platform
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import random
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import re
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import shutil
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import string
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import subprocess
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import sys
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import sysconfig
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import setuptools
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from setuptools import find_packages
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from setuptools import setup
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from setuptools.command import build_ext
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from setuptools.command import install_scripts
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__version__ = '2.3.6'
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MUJOCO_CMAKE = 'MUJOCO_CMAKE'
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MUJOCO_CMAKE_ARGS = 'MUJOCO_CMAKE_ARGS'
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MUJOCO_PATH = 'MUJOCO_PATH'
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MUJOCO_PLUGIN_PATH = 'MUJOCO_PLUGIN_PATH'
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EXT_PREFIX = 'mujoco.'
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def get_long_description():
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"""Creates a long description for the package from bundled markdown files."""
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current_dir = os.path.dirname('__file__')
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with open(os.path.join(current_dir, 'README.md')) as f:
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description = f.read()
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try:
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with open(os.path.join(current_dir, 'LICENSES_THIRD_PARTY.md')) as f:
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description = f'{description}\n{f.read()}'
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except FileNotFoundError:
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pass
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return description
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def get_mujoco_lib_pattern():
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if platform.system() == 'Windows':
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return 'mujoco.lib'
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elif platform.system() == 'Darwin':
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return 'libmujoco.*.dylib'
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else:
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return 'libmujoco.so.*'
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def get_external_lib_patterns():
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if platform.system() == 'Windows':
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return ['mujoco.dll']
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elif platform.system() == 'Darwin':
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return ['libmujoco.*.dylib']
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else:
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return ['libmujoco.so.*']
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def get_plugin_lib_patterns():
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if platform.system() == 'Windows':
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return ['*.dll']
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elif platform.system() == 'Darwin':
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return ['lib*.dylib']
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else:
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return ['lib*']
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def start_and_end(iterable):
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it = iter(iterable)
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while True:
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try:
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first = next(it)
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second = next(it)
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yield first, second
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except StopIteration:
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return
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def tokenize_quoted_substr(input_string, quote_char, placeholders=None):
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"""Replace quoted substrings with random text placeholders with no spaces."""
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# Matches quote characters not proceded with a backslash.
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pattern = re.compile(r'(?<!\\)' + quote_char)
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quote_positions = [m.start() for m in pattern.finditer(input_string)]
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if len(quote_positions) % 2:
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raise ValueError(f'unbalanced quotes {quote_char}...{quote_char}')
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output_string = ''
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placeholders = placeholders if placeholders is not None else dict()
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prev_end = -1
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for start, end in start_and_end(quote_positions):
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output_string += input_string[prev_end+1:start]
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while True:
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placeholder = ''.join(random.choices(string.ascii_lowercase, k=5))
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if placeholder not in input_string and placeholder not in output_string:
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break
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output_string += placeholder
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placeholders[placeholder] = input_string[start+1:end]
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prev_end = end
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output_string += input_string[prev_end+1:]
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return output_string, placeholders
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def parse_cmake_args_from_environ(env_var_name=MUJOCO_CMAKE_ARGS):
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"""Parses CMake arguments from an environment variable."""
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raw_args = os.environ.get(env_var_name, '').strip()
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unquoted, placeholders = tokenize_quoted_substr(raw_args, '"')
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unquoted, placeholders = tokenize_quoted_substr(unquoted, "'", placeholders)
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parts = re.split(r'\s+', unquoted.strip())
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out = []
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for part in parts:
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for k, v in placeholders.items():
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part = part.replace(k, v)
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part = part.replace('\\"', '"').replace("\\'", "'")
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if part:
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out.append(part)
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return out
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class CMakeExtension(setuptools.Extension):
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"""A Python extension that has been prebuilt by CMake.
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We do not want distutils to handle the build process for our extensions, so
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so we pass an empty list to the super constructor.
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"""
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def __init__(self, name):
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super().__init__(name, sources=[])
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class BuildCMakeExtension(build_ext.build_ext):
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"""Uses CMake to build extensions."""
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def run(self):
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self._is_apple = (platform.system() == 'Darwin')
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(self._mujoco_library_path,
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self._mujoco_include_path,
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self._mujoco_plugins_path,
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self._mujoco_framework_path) = self._find_mujoco()
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self._configure_cmake()
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for ext in self.extensions:
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assert ext.name.startswith(EXT_PREFIX)
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assert '.' not in ext.name[len(EXT_PREFIX):]
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self.build_extension(ext)
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self._copy_external_libraries()
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self._copy_mujoco_headers()
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self._copy_plugin_libraries()
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if self._is_apple:
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self._copy_mjpython()
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def _find_mujoco(self):
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if MUJOCO_PATH not in os.environ:
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raise RuntimeError(
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f'{MUJOCO_PATH} environment variable is not set')
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if MUJOCO_PLUGIN_PATH not in os.environ:
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raise RuntimeError(
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f'{MUJOCO_PLUGIN_PATH} environment variable is not set')
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library_path = None
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include_path = None
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plugin_path = os.environ[MUJOCO_PLUGIN_PATH]
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for directory, subdirs, filenames in os.walk(os.environ[MUJOCO_PATH]):
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if self._is_apple and 'mujoco.framework' in subdirs:
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return (os.path.join(directory, 'mujoco.framework/Versions/A'),
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os.path.join(directory, 'mujoco.framework/Headers'),
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plugin_path,
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directory)
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if fnmatch.filter(filenames, get_mujoco_lib_pattern()):
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library_path = directory
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if os.path.exists(os.path.join(directory, 'mujoco/mujoco.h')):
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include_path = directory
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if library_path and include_path:
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return library_path, include_path, plugin_path, None
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raise RuntimeError('Cannot find MuJoCo library and/or include paths')
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def _copy_external_libraries(self):
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dst = os.path.dirname(self.get_ext_fullpath(self.extensions[0].name))
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for directory, _, filenames in os.walk(os.environ[MUJOCO_PATH]):
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for pattern in get_external_lib_patterns():
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for filename in fnmatch.filter(filenames, pattern):
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shutil.copyfile(os.path.join(directory, filename),
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os.path.join(dst, filename))
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def _copy_plugin_libraries(self):
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dst = os.path.join(
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os.path.dirname(self.get_ext_fullpath(self.extensions[0].name)),
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'plugin')
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os.makedirs(dst)
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for directory, _, filenames in os.walk(self._mujoco_plugins_path):
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for pattern in get_plugin_lib_patterns():
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for filename in fnmatch.filter(filenames, pattern):
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shutil.copyfile(os.path.join(directory, filename),
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os.path.join(dst, filename))
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def _copy_mujoco_headers(self):
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dst = os.path.join(
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os.path.dirname(self.get_ext_fullpath(self.extensions[0].name)),
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'include/mujoco')
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os.makedirs(dst)
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for directory, _, filenames in os.walk(self._mujoco_include_path):
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for filename in fnmatch.filter(filenames, '*.h'):
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shutil.copyfile(os.path.join(directory, filename),
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os.path.join(dst, filename))
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def _copy_mjpython(self):
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src_dir = os.path.join(os.path.dirname(__file__), 'mujoco/mjpython')
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dst_contents_dir = os.path.join(
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os.path.dirname(self.get_ext_fullpath(self.extensions[0].name)),
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'MuJoCo (mjpython).app/Contents')
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os.makedirs(dst_contents_dir)
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shutil.copyfile(os.path.join(src_dir, 'Info.plist'),
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os.path.join(dst_contents_dir, 'Info.plist'))
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dst_bin_dir = os.path.join(dst_contents_dir, 'MacOS')
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os.makedirs(dst_bin_dir)
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shutil.copyfile(os.path.join(self.build_temp, 'mjpython'),
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os.path.join(dst_bin_dir, 'mjpython'))
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os.chmod(os.path.join(dst_bin_dir, 'mjpython'), 0o755)
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dst_resources_dir = os.path.join(dst_contents_dir, 'Resources')
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os.makedirs(dst_resources_dir)
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shutil.copyfile(os.path.join(src_dir, 'mjpython.icns'),
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os.path.join(dst_resources_dir, 'mjpython.icns'))
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def _configure_cmake(self):
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"""Check for CMake."""
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cmake = os.environ.get(MUJOCO_CMAKE, 'cmake')
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build_cfg = 'Debug' if self.debug else 'Release'
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cmake_module_path = os.path.join(os.path.dirname(__file__), 'cmake')
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cmake_args = [
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f'-DPython3_ROOT_DIR:PATH={sys.prefix}',
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f'-DPython3_EXECUTABLE:STRING={sys.executable}',
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f'-DCMAKE_MODULE_PATH:PATH={cmake_module_path}',
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f'-DCMAKE_BUILD_TYPE:STRING={build_cfg}',
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f'-DCMAKE_LIBRARY_OUTPUT_DIRECTORY:PATH={self.build_temp}',
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f'-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL={"OFF" if self.debug else "ON"}',
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'-DCMAKE_Fortran_COMPILER:STRING=',
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'-DBUILD_TESTING:BOOL=OFF',
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]
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if self._mujoco_framework_path is not None:
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cmake_args.extend([
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f'-DMUJOCO_FRAMEWORK_DIR:PATH={self._mujoco_framework_path}',
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])
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else:
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cmake_args.extend([
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f'-DMUJOCO_LIBRARY_DIR:PATH={self._mujoco_library_path}',
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f'-DMUJOCO_INCLUDE_DIR:PATH={self._mujoco_include_path}',
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])
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if platform.system() != 'Windows':
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cmake_args.extend([
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f'-DPython3_LIBRARY={sysconfig.get_paths()["stdlib"]}',
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f'-DPython3_INCLUDE_DIR={sysconfig.get_paths()["include"]}',
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])
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if platform.system() == 'Darwin' and os.environ.get('ARCHFLAGS'):
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osx_archs = []
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if '-arch x86_64' in os.environ['ARCHFLAGS']:
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osx_archs.append('x86_64')
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if '-arch arm64' in os.environ['ARCHFLAGS']:
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osx_archs.append('arm64')
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cmake_args.append(f'-DCMAKE_OSX_ARCHITECTURES={";".join(osx_archs)}')
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cmake_args.extend(parse_cmake_args_from_environ())
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os.makedirs(self.build_temp, exist_ok=True)
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if platform.system() == 'Windows':
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cmake_args = [arg.replace('\\', '/') for arg in cmake_args]
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print('Configuring CMake with the following arguments:')
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for arg in cmake_args:
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print(f' {arg}')
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subprocess.check_call(
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[cmake] + cmake_args +
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[os.path.join(os.path.dirname(__file__), 'mujoco')],
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cwd=self.build_temp)
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print('Building all extensions with CMake')
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subprocess.check_call(
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[cmake, '--build', '.', f'-j{os.cpu_count()}', '--config', build_cfg],
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cwd=self.build_temp)
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def build_extension(self, ext):
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dest_path = self.get_ext_fullpath(ext.name)
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build_path = os.path.join(self.build_temp, os.path.basename(dest_path))
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shutil.copyfile(build_path, dest_path)
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class InstallScripts(install_scripts.install_scripts):
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"""Strips file extension from executable scripts whose names end in `.py`."""
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def run(self):
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super().run()
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oldfiles = self.outfiles
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files = set(oldfiles)
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self.outfiles = []
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for oldfile in oldfiles:
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if oldfile.endswith('.py'):
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newfile = oldfile[:-3]
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else:
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newfile = oldfile
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renamed = False
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if newfile not in files and not os.path.exists(newfile):
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if not self.dry_run:
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os.rename(oldfile, newfile)
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renamed = True
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if renamed:
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logging.info(
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'Renaming %s script to %s',
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os.path.basename(oldfile),
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os.path.basename(newfile),
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)
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self.outfiles.append(newfile)
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files.remove(oldfile)
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files.add(newfile)
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else:
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self.outfiles.append(oldfile)
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def find_data_files(package_dir, patterns):
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"""Recursively finds files whose names match the given shell patterns."""
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paths = set()
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for directory, _, filenames in os.walk(package_dir):
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for pattern in patterns:
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for filename in fnmatch.filter(filenames, pattern):
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# NB: paths must be relative to the package directory.
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relative_dirpath = os.path.relpath(directory, package_dir)
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paths.add(os.path.join(relative_dirpath, filename))
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return list(paths)
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SETUP_KWARGS = dict(
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name='mujoco',
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version=__version__,
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author='DeepMind',
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author_email='mujoco@deepmind.com',
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description='MuJoCo Physics Simulator',
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long_description=get_long_description(),
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long_description_content_type='text/markdown',
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url='https://github.com/deepmind/mujoco',
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license='Apache License 2.0',
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classifiers=[
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'Development Status :: 5 - Production/Stable',
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'Intended Audience :: Developers',
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'Intended Audience :: Science/Research',
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'License :: OSI Approved :: Apache Software License',
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'Natural Language :: English',
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'Programming Language :: Python :: 3',
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'Programming Language :: Python :: 3.7',
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'Programming Language :: Python :: 3.8',
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'Programming Language :: Python :: 3.9',
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'Programming Language :: Python :: 3.10',
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'Programming Language :: Python :: 3.11',
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'Topic :: Scientific/Engineering',
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],
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cmdclass=dict(
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build_ext=BuildCMakeExtension,
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install_scripts=InstallScripts,
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),
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ext_modules=[
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CMakeExtension('mujoco._callbacks'),
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CMakeExtension('mujoco._constants'),
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CMakeExtension('mujoco._enums'),
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CMakeExtension('mujoco._errors'),
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CMakeExtension('mujoco._functions'),
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CMakeExtension('mujoco._render'),
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CMakeExtension('mujoco._rollout'),
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CMakeExtension('mujoco._simulate'),
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CMakeExtension('mujoco._structs'),
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],
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python_requires='>=3.7',
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install_requires=[
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'absl-py',
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'glfw',
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'numpy',
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'pyopengl',
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],
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tests_require=[
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'absl-py',
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'glfw',
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'numpy',
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'pyopengl',
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],
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test_suite='mujoco',
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packages=find_packages(),
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package_data={
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'mujoco':
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find_data_files(
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package_dir='mujoco',
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patterns=[
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'libmujoco.*.dylib',
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'libmujoco*.so.*',
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'mujoco.dll',
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'include/mujoco/*.h',
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]),
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},
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)
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if platform.system() == 'Darwin':
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SETUP_KWARGS['scripts'] = ['mujoco/mjpython/mjpython.py']
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setup(**SETUP_KWARGS)
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