Kevin Zakka
93 lines
3.1 KiB
Python
93 lines
3.1 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 os
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import platform
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import subprocess
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HEADERS_DIR = os.path.join(os.path.dirname(__file__), 'include')
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_MUJOCO_GL_ENABLE = ('enable', 'enabled', 'on', 'true', '1' , '')
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_MUJOCO_GL_DISABLE = ('disable', 'disabled', 'off', 'false', '0')
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_MUJOCO_GL = os.environ.get('MUJOCO_GL', '').lower().strip()
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_MUJOCO_GL_IS_VALID = True
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_SYSTEM = platform.system()
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if _SYSTEM == 'Linux':
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libglew_name = None
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if _MUJOCO_GL in _MUJOCO_GL_ENABLE + ('glfw', 'glx'):
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libglew_name = 'libglew.so'
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elif _MUJOCO_GL == 'egl':
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libglew_name = 'libglewegl.so'
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elif _MUJOCO_GL == 'osmesa':
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libglew_name = 'libglewosmesa.so'
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elif _MUJOCO_GL not in _MUJOCO_GL_DISABLE:
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_MUJOCO_GL_IS_VALID = False
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if libglew_name is not None:
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ctypes.CDLL(os.path.join(os.path.dirname(__file__), libglew_name),
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ctypes.RTLD_GLOBAL)
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ctypes.CDLL(
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os.path.join(os.path.dirname(__file__), 'libmujoco.so.2.1.3'),
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ctypes.RTLD_GLOBAL)
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else:
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ctypes.CDLL(
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os.path.join(os.path.dirname(__file__), 'libmujoco_nogl.so.2.1.3'),
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ctypes.RTLD_GLOBAL)
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elif _SYSTEM == 'Windows':
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if _MUJOCO_GL in _MUJOCO_GL_ENABLE + ('glfw', 'wgl'):
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ctypes.WinDLL(os.path.join(os.path.dirname(__file__), 'mujoco.dll'))
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elif _MUJOCO_GL in _MUJOCO_GL_DISABLE:
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ctypes.WinDLL(os.path.join(os.path.dirname(__file__), 'mujoco_nogl.dll'))
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else:
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_MUJOCO_GL_IS_VALID = False
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if not _MUJOCO_GL_IS_VALID:
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raise RuntimeError(
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f'invalid value for environment variable MUJOCO_GL: {_MUJOCO_GL}')
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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._structs import *
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# pylint: disable=g-import-not-at-top
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if _MUJOCO_GL not in _MUJOCO_GL_DISABLE:
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from mujoco._render import *
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if _SYSTEM != 'Linux':
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from mujoco.glfw import GLContext
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else:
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_dl_handle = ctypes.CDLL(None)
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if hasattr(_dl_handle, 'OSMesaCreateContextExt'):
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from mujoco.osmesa import GLContext
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elif hasattr(_dl_handle, 'eglCreateContext'):
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from mujoco.egl import GLContext
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else:
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from mujoco.glfw import GLContext
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def _get_version() -> str:
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with open(os.path.join(HEADERS_DIR, 'mujoco.h'), 'r') as f:
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for line in f:
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if line.startswith('#define mjVERSION_HEADER'):
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version = line.split()[2]
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break
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return '.'.join([d for d in str(version)])
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__version__ = _get_version()
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