Alessio Quaglino
95fe2fbc40
PiperOrigin-RevId: 480675078 Change-Id: I2967654b6662efced8ae62cae9b03c6c8e65c67c
69 lines
2.3 KiB
Python
69 lines
2.3 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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_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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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._structs import *
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# pylint: disable=g-import-not-at-top
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_MUJOCO_GL = os.environ.get('MUJOCO_GL', '').lower().strip()
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if _MUJOCO_GL not in ('disable', 'disabled', 'off', 'false', '0'):
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_VALID_MUJOCO_GL = ('enable', 'enabled', 'on', 'true', '1' , 'glfw', '')
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if _SYSTEM == 'Linux':
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_VALID_MUJOCO_GL += ('glx', 'egl', 'osmesa')
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elif _SYSTEM == 'Windows':
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_VALID_MUJOCO_GL += ('wgl',)
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elif _SYSTEM == 'Darwin':
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_VALID_MUJOCO_GL += ('cgl',)
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if _MUJOCO_GL not in _VALID_MUJOCO_GL:
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raise RuntimeError(
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f'invalid value for environment variable MUJOCO_GL: {_MUJOCO_GL}')
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if _SYSTEM == 'Linux' and _MUJOCO_GL == 'osmesa':
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from mujoco.osmesa import GLContext
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elif _SYSTEM == 'Linux' and _MUJOCO_GL == 'egl':
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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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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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PLUGIN_HANDLES.append(ctypes.CDLL(os.path.join(directory, filename)))
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_load_all_bundled_plugins()
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__version__ = mj_versionString() # pylint: disable=undefined-variable
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