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WIP Python bindings for Simulate tested on Linux only
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| // Copyright 2022 DeepMind Technologies Limited | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
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| #include <array> | ||
| #include <cstdio> | ||
| #include <iostream> | ||
| #include <optional> | ||
| #include <sstream> | ||
| #include <string> | ||
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| #include <mujoco/mujoco.h> | ||
| #include <mujoco/simulate.h> | ||
| #include "raw.h" | ||
| #include "structs.h" | ||
| #include <pybind11/buffer_info.h> | ||
| #include <pybind11/numpy.h> | ||
| #include <pybind11/pybind11.h> | ||
| #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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| const auto simulate_doc = R"( | ||
| Python wrapper for the Simulate class | ||
| )"; | ||
|
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| // We define SimulateWrapper here instead of in structs because | ||
| // we do not want to make _structs dependent on gflw | ||
|
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| PYBIND11_MODULE(_simulate, pymodule) { | ||
| namespace py = ::pybind11; | ||
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| py::class_<mujoco::raw::Simulate>(pymodule, "Simulate") | ||
| .def(py::init<>()) | ||
| .def("renderloop", | ||
| [](mujoco::raw::Simulate& simulate) { | ||
| simulate.renderloop(); | ||
| }, | ||
| py::call_guard<py::gil_scoped_release>()) | ||
| .def("load", | ||
| [](mujoco::raw::Simulate& simulate, std::string filename, const MjModelWrapper& m, MjDataWrapper& d, bool delete_old_m_d) { | ||
| const raw::MjModel* m_ptr = m.get(); | ||
| raw::MjData* d_ptr = d.get(); | ||
| simulate.load(filename.c_str(), (mjModel*)m_ptr, d_ptr, delete_old_m_d); | ||
| }, | ||
| py::call_guard<py::gil_scoped_release>()) | ||
| .def("applyposepertubations", &mujoco::raw::Simulate::applyposepertubations) | ||
| .def("applyforceperturbations", &mujoco::raw::Simulate::applyforceperturbations) | ||
|
|
||
| .def("lock", // TODO wrap mutex properly as as seperate pybind11 object? | ||
| [](mujoco::raw::Simulate& simulate) { | ||
| simulate.mtx.lock(); | ||
| }, | ||
| py::call_guard<py::gil_scoped_release>()) | ||
| .def("unlock", | ||
| [](mujoco::raw::Simulate& simulate) { | ||
| simulate.mtx.unlock(); | ||
| }, | ||
| py::call_guard<py::gil_scoped_release>()) | ||
| .def_readwrite("ctrlnoisestd", &mujoco::raw::Simulate::ctrlnoisestd) | ||
| .def_readwrite("ctrlnoiserate", &mujoco::raw::Simulate::ctrlnoiserate) | ||
| .def_readwrite("slow_down", &mujoco::raw::Simulate::slow_down) | ||
| .def_readwrite("speed_changed", &mujoco::raw::Simulate::speed_changed) | ||
| .def("getrefreshRate", | ||
| [](mujoco::raw::Simulate& simulate) { | ||
| return simulate.vmode.refreshRate; | ||
| }) | ||
|
|
||
| .def_readwrite("busywait", &mujoco::raw::Simulate::busywait) | ||
| .def_readwrite("run", &mujoco::raw::Simulate::run) | ||
| //.def_readwrite("exitrequest", &mujoco::raw::Simulate::exitrequest) | ||
| .def("getexitrequest", | ||
| [](mujoco::raw::Simulate& simulate) { | ||
| return simulate.exitrequest.load(); | ||
| } | ||
| ) | ||
| .def("setexitrequest", | ||
| [](mujoco::raw::Simulate& simulate, bool exitrequest) { | ||
| simulate.exitrequest.store(exitrequest); | ||
| } | ||
| ) | ||
| // .def_readwrite("uiloadrequest", &mujoco::raw::Simulate::uiloadrequest) | ||
| .def("getuiloadrequest", | ||
| [](mujoco::raw::Simulate& simulate) { | ||
| return simulate.uiloadrequest.load(); | ||
| } | ||
| ) | ||
| .def("setuiloadrequest", | ||
| [](mujoco::raw::Simulate& simulate, int uiloadrequest) { | ||
| simulate.uiloadrequest.store(uiloadrequest); | ||
| } | ||
| ) | ||
| .def("uiloadrequest_fetch_sub", | ||
| [](mujoco::raw::Simulate& simulate, int arg) { | ||
| simulate.uiloadrequest.fetch_sub(arg); | ||
| } | ||
| ) | ||
| // .def_readwrite("droploadrequest", &mujoco::raw::Simulate::droploadrequest) | ||
| .def("getdroploadrequest", | ||
| [](mujoco::raw::Simulate& simulate) { | ||
| return simulate.droploadrequest.load(); | ||
| } | ||
| ) | ||
| .def("setdroploadrequest", | ||
| [](mujoco::raw::Simulate& simulate, bool droploadrequest) { | ||
| simulate.droploadrequest.store(droploadrequest); | ||
| } | ||
| ) | ||
| .def("getdropfilename", | ||
| [](mujoco::raw::Simulate& simulate) { | ||
| return (char*)simulate.dropfilename; | ||
| } | ||
| ) | ||
| .def("getfilename", | ||
| [](mujoco::raw::Simulate& simulate) { | ||
| return (char*)simulate.filename; | ||
| } | ||
| ) | ||
| .def("setloadError", | ||
| [](mujoco::raw::Simulate& simulate, std::string& loadError) { | ||
| strncpy(simulate.loadError, loadError.c_str(), simulate.kMaxFilenameLength); | ||
| } | ||
| ); | ||
| } | ||
|
|
||
| } // namespace | ||
|
|
||
| } |
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