Levi Burner
137 lines
4.2 KiB
C++
137 lines
4.2 KiB
C++
// 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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#include <array>
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#include <cstdio>
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#include <iostream>
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#include <optional>
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#include <sstream>
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#include <string>
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#include <mujoco/mujoco.h>
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#include <mujoco/simulate.h>
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#include "raw.h"
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#include "structs.h"
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#include <pybind11/buffer_info.h>
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#include <pybind11/numpy.h>
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#include <pybind11/pybind11.h>
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#include <pybind11/stl.h>
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namespace mujoco::python {
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namespace {
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namespace py = ::pybind11;
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PYBIND11_MODULE(_simulate, pymodule) {
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namespace py = ::pybind11;
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py::class_<mujoco::Simulate>(pymodule, "Simulate")
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.def(py::init<>())
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.def("renderloop",
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[](mujoco::Simulate& simulate) {
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simulate.renderloop();
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},
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py::call_guard<py::gil_scoped_release>())
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.def("load",
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[](mujoco::Simulate& simulate, std::string filename, const MjModelWrapper& m, MjDataWrapper& d) {
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const raw::MjModel* m_ptr = m.get();
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raw::MjData* d_ptr = d.get();
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simulate.load(filename.c_str(), (mjModel*)m_ptr, d_ptr);
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},
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py::call_guard<py::gil_scoped_release>())
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.def("applyposepertubations", &mujoco::Simulate::applyposepertubations)
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.def("applyforceperturbations", &mujoco::Simulate::applyforceperturbations)
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.def("lock", // TODO wrap mutex properly as as seperate pybind11 object?
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[](mujoco::Simulate& simulate) {
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simulate.mtx.lock();
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},
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py::call_guard<py::gil_scoped_release>())
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.def("unlock",
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[](mujoco::Simulate& simulate) {
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simulate.mtx.unlock();
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},
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py::call_guard<py::gil_scoped_release>())
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.def_readwrite("ctrlnoisestd", &mujoco::Simulate::ctrlnoisestd)
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.def_readwrite("ctrlnoiserate", &mujoco::Simulate::ctrlnoiserate)
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.def_readwrite("realtimeindex", &mujoco::Simulate::realTimeIndex)
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.def_readwrite("speedchanged", &mujoco::Simulate::speedChanged)
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.def_readwrite("measuredslowdown", &mujoco::Simulate::measuredSlowdown)
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.def_readwrite("refreshrate", &mujoco::Simulate::refreshRate)
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.def_readwrite("busywait", &mujoco::Simulate::busywait)
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.def_readwrite("run", &mujoco::Simulate::run)
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.def("getexitrequest",
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[](mujoco::Simulate& simulate) {
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return simulate.exitrequest.load();
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}
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)
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.def("setexitrequest",
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[](mujoco::Simulate& simulate, bool exitrequest) {
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simulate.exitrequest.store(exitrequest);
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}
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)
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.def("getuiloadrequest",
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[](mujoco::Simulate& simulate) {
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return simulate.uiloadrequest.load();
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}
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)
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.def("setuiloadrequest",
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[](mujoco::Simulate& simulate, int uiloadrequest) {
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simulate.uiloadrequest.store(uiloadrequest);
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}
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)
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.def("uiloadrequest_fetch_sub",
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[](mujoco::Simulate& simulate, int arg) {
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simulate.uiloadrequest.fetch_sub(arg);
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}
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)
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.def("getdroploadrequest",
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[](mujoco::Simulate& simulate) {
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return simulate.droploadrequest.load();
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}
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)
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.def("setdroploadrequest",
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[](mujoco::Simulate& simulate, bool droploadrequest) {
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simulate.droploadrequest.store(droploadrequest);
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}
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)
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.def("getdropfilename",
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[](mujoco::Simulate& simulate) {
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return (char*)simulate.dropfilename;
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}
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)
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.def("getfilename",
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[](mujoco::Simulate& simulate) {
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return (char*)simulate.filename;
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}
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)
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.def("setloadError",
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[](mujoco::Simulate& simulate, std::string& loadError) {
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strncpy(simulate.loadError, loadError.c_str(), simulate.kMaxFilenameLength);
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}
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);
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pymodule.def("setglfwdlhandle", [](std::uintptr_t dlhandle) { mujoco::setglfwdlhandle(reinterpret_cast<void*>(dlhandle)); });
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}
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} // namespace
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}
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