Saran Tunyasuvunakool
cb01022124
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122 lines
4.3 KiB
Markdown
122 lines
4.3 KiB
Markdown
# MuJoCo Python Bindings
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[![PyPI Python Version][pypi-versions-badge]][pypi]
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[![PyPI version][pypi-badge]][pypi]
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[pypi-versions-badge]: https://img.shields.io/pypi/pyversions/mujoco
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[pypi-badge]: https://badge.fury.io/py/mujoco.svg
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[pypi]: https://pypi.org/project/mujoco/
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This package is the canonical Python bindings for the
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[MuJoCo physics engine](https://github.com/deepmind/mujoco).
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These bindings are developed and maintained by DeepMind, and is kept up-to-date
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with the latest developments in MuJoCo itself.
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The `mujoco` package provides direct access to raw MuJoCo C API functions,
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structs, constants, and enumerations. Structs are provided as Python classes,
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with Pythonic initialization and deletion semantics.
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It is not the aim of this package to provide fully fledged
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scene/environment/game authoring API, as there are already a number of existing
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packages that do this well. However, this package does provide a number of
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lower-level components outside of MuJoCo itself that are likely to be useful to
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most users who access MuJoCo through Python. For example, the `egl`, `glfw`, and
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`osmesa` subpackages contain utilities for setting up OpenGL rendering contexts.
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## Installation
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### PyPI (Recommended)
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The recommended way to install this package is via [PyPI](https://pypi.org/project/mujoco/):
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```sh
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pip install mujoco
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```
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A copy of the MuJoCo library is provided as part of the package and does **not**
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need to be downloaded or installed separately.
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### Source
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**IMPORTANT:** Building from source is only necessary if you are modifying the
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Python bindings (or are trying to run on exceptionally old Linux systems).
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If that's not the case, then we recommend installing the prebuilt binaries from
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PyPI.
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1. Make sure you have CMake and a C++17 compiler installed.
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1. Download the [latest binary release](https://github.com/deepmind/mujoco/releases)
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from GitHub. On macOS, the download corresponds to a DMG file from which you
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can drag `MuJoCo.app` into your `/Applications` folder.
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1. Clone the entire `mujoco` repository from GitHub and `cd` into the python
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directory.
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```bash
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git clone https://github.com/deepmind/mujoco.git
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cd mujoco/python
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```
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1. Create a virtual environment:
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```bash
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python3 -m venv /tmp/mujoco
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source /tmp/mujoco/bin/activate
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```
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1. Generate a [source distribution](https://packaging.python.org/en/latest/glossary/#term-Source-Distribution-or-sdist)
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tarball with the `make_sdist.sh` script.
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```bash
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cd python
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bash make_sdist.sh
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```
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The `make_sdist.sh` script generates additional C++ header files that are
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needed to build the bindings, and also pulls in required files from elsewhere
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in the repository outside the `python` directory into the sdist. Upon
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completion, the script will create a `dist` directory with a
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`mujoco-x.y.z.tar.gz` file (where `x.y.z` is the version number).
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1. Use the generated source distribution to build and install the bindings.
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You'll need to specify the path to the MuJoCo library you downloaded earlier
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in the `MUJOCO_PATH` environment variable.
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**Note**: For macOS, this can be the path to a directory that contains the
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`mujoco.framework`. In particular, you can set
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`MUJOCO_PATH=/Applications/MuJoCo.app` if you installed MuJoCo as suggested
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in step 1.
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```bash
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cd dist
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MUJOCO_PATH=/PATH/TO/MUJOCO pip install mujoco-x.y.z.tar.gz
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```
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The Python bindings should now be installed! To check that they've been
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successfully installed, `cd` outside of the `mujoco` directory and run
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`python -c "import mujoco"`.
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## Usage
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Once installed, the package can be imported via `import mujoco`. Please consult
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our [documentation](https://mujoco.readthedocs.io/en/latest/python.html) for
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further detail on the package's API.
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## Versioning
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The `major.minor.micro` portion of the version number matches the version of
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MuJoCo that the bindings provide. Optionally, if we release updates to the
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Python bindings themselves that target the same version of MuJoCo, a `.postN`
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suffix is added, for example `2.1.2.post2` represents the second update to the
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bindings for MuJoCo 2.1.2.
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## License and Disclaimer
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Copyright 2022 DeepMind Technologies Limited
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MuJoCo and its Python bindings are licensed under the Apache License,
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Version 2.0. You may obtain a copy of the License at
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https://www.apache.org/licenses/LICENSE-2.0.
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This is not an officially supported Google product.
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