Saran Tunyasuvunakool
230e2780de
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
45 lines
1.6 KiB
Python
45 lines
1.6 KiB
Python
#!/usr/bin/env python
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# Copyright 2023 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 interpreter trampoline for macOS to support non-block Cocoa GUI.
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This script executes a native binary that runs the CPython interpreter entry
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point in a separate thread, thus leaving the macOS main thread free for Cocoa
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GUI calls without blocking the user's Python script. In other words, Python's
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idea of the "main thread" is different from the thread that holds the
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com.apple.main-thread DispatchQueue.
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"""
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import importlib.util
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import os
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import sys
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import sysconfig
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def main(argv):
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os.environ['MJPYTHON_LIBPYTHON'] = os.path.join(
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sysconfig.get_config_var('PYTHONFRAMEWORKPREFIX'),
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sysconfig.get_config_var('INSTSONAME'),
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)
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argv[0] = sys.executable
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mujoco_dir = os.path.dirname(importlib.util.find_spec('mujoco').origin)
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os.execve(
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os.path.join(mujoco_dir, 'MuJoCo (mjpython).app/Contents/MacOS/mjpython'),
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argv, os.environ)
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if __name__ == '__main__':
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main(sys.argv)
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