Saran Tunyasuvunakool
6d63e046fd
This allows rendering from non-main threads as the context is not tied to a Cocoa window. Fixes #742 Fixes #798 PiperOrigin-RevId: 523144359 Change-Id: I98432debdd034814c313eda94e38c248c3c1f76c
49 lines
1.8 KiB
Python
49 lines
1.8 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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"""Exports GLContext for MuJoCo Python bindings."""
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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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# pylint: disable=g-import-not-at-top
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_SYSTEM = platform.system()
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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 as _GLContext
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GLContext = _GLContext
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elif _SYSTEM == 'Linux' and _MUJOCO_GL == 'egl':
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from mujoco.egl import GLContext as _GLContext
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GLContext = _GLContext
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elif _SYSTEM == 'Darwin':
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from mujoco.cgl import GLContext as _GLContext
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GLContext = _GLContext
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else:
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from mujoco.glfw import GLContext as _GLContext
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GLContext = _GLContext
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