milutter
70 lines
2.4 KiB
Python
70 lines
2.4 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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"""Python bindings for MuJoCo."""
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import ctypes
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import ctypes.util
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import os
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import platform
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import subprocess
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_SYSTEM = platform.system()
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if _SYSTEM == 'Windows':
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ctypes.WinDLL(os.path.join(os.path.dirname(__file__), 'mujoco.dll'))
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elif _SYSTEM == 'Darwin':
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proc_translated = subprocess.run(
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['sysctl', '-n', 'sysctl.proc_translated'], capture_output=True).stdout
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try:
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is_rosetta = bool(int(proc_translated))
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except ValueError:
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is_rosetta = False
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if is_rosetta and platform.machine() == 'x86_64':
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raise ImportError(
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'You are running an x86_64 build of Python on an Apple Silicon '
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'machine. This is not supported by MuJoCo. Please install and run a '
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'native, arm64 build of Python.')
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from mujoco._callbacks import *
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from mujoco._constants import *
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from mujoco._enums import *
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from mujoco._errors import *
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from mujoco._functions import *
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from mujoco._render import *
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from mujoco._structs import *
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from mujoco.gl_context import *
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from mujoco.renderer import Renderer
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HEADERS_DIR = os.path.join(os.path.dirname(__file__), 'include/mujoco')
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PLUGINS_DIR = os.path.join(os.path.dirname(__file__), 'plugin')
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PLUGIN_HANDLES = []
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def _load_all_bundled_plugins():
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for directory, _, filenames in os.walk(PLUGINS_DIR):
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for filename in filenames:
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if os.path.splitext(filename)[-1] == ".so":
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PLUGIN_HANDLES.append(ctypes.CDLL(os.path.join(directory, filename)))
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elif filename == "__init__.py":
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pass
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else:
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raise ValueError(f"Trying to load the plugin {os.path.join(directory, filename)}, "
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"which is not a shared library.")
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_load_all_bundled_plugins()
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__version__ = mj_versionString() # pylint: disable=undefined-variable
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