Alessio Quaglino
dec7b661c1
PiperOrigin-RevId: 723552214 Change-Id: I8ecb43b4025b532ba8b48e15c9c6a2b350293d20
130 lines
4.4 KiB
Python
130 lines
4.4 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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from typing import IO, Union
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from typing_extensions import TypeAlias
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import warnings
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import zipfile
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# Extend the path to enable multiple directories to contribute to the same
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# package. Without this line, the `mujoco-mjx` package would not be able to
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# be discovered by import. For more information, see: https://packaging.python.org/guides/packaging-namespace-packages/#pkgutil-style-namespace-packages
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# NOTE: As per the Python Packaging User Guide linked above, the preferable way
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# of declaring the namespace package is to use the native namespace packages.
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# This seems non-trivial at the current state of the project, however.
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# For more information, see: https://github.com/google-deepmind/mujoco/issues/2119
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__path__ = __import__('pkgutil').extend_path(__path__, __name__)
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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 import _specs
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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._specs 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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MjStruct: TypeAlias = Union[
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_specs.MjsBody,
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_specs.MjsFrame,
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_specs.MjsGeom,
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_specs.MjsJoint,
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_specs.MjsLight,
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_specs.MjsMaterial,
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_specs.MjsSite,
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_specs.MjsMesh,
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_specs.MjsSkin,
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_specs.MjsTexture,
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_specs.MjsText,
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_specs.MjsTuple,
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_specs.MjsCamera,
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_specs.MjsFlex,
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_specs.MjsHField,
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_specs.MjsKey,
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_specs.MjsNumeric,
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_specs.MjsPair,
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_specs.MjsExclude,
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_specs.MjsEquality,
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_specs.MjsTendon,
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_specs.MjsSensor,
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_specs.MjsActuator,
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_specs.MjsPlugin,
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]
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def to_zip(spec: _specs.MjSpec, file: Union[str, IO[bytes]]) -> None:
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"""Converts a spec to a zip file.
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Args:
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spec: The mjSpec to save to a file.
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file: The path to the file to save to or the file object to write to.
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"""
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files_to_zip = spec.assets
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files_to_zip[spec.modelname + '.xml'] = spec.to_xml()
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if isinstance(file, str):
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directory = os.path.dirname(file)
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os.makedirs(directory, exist_ok=True)
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file = open(file, 'wb')
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with zipfile.ZipFile(file, 'w') as zip_file:
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for filename, contents in files_to_zip.items():
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zip_info = zipfile.ZipInfo(os.path.join(spec.modelname, filename))
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zip_file.writestr(zip_info, contents)
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_specs.MjSpec.to_zip = to_zip
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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] in [".dll", ".dylib", ".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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warnings.warn('Ignoring non-library in plugin directory: '
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f'{os.path.join(directory, filename)}', ImportWarning)
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_load_all_bundled_plugins()
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__version__ = mj_versionString() # pylint: disable=undefined-variable
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