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Merge pull request #419 from aftersomemath:simulate-python
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,3 +1,3 @@ | ||
| include LICENSE *.md | ||
| recursive-include mujoco *.h *.cc CMakeLists.txt | ||
| recursive-include mujoco *.h *.cc *.mm CMakeLists.txt Simulate*.cmake | ||
| recursive-include cmake *.cmake |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,143 @@ | ||
| // 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. | ||
|
|
||
| #include <cstdint> | ||
| #include <cstring> | ||
| #include <string> | ||
|
|
||
| #include <simulate.h> | ||
| #include "raw.h" | ||
| #include "structs.h" | ||
| #include <pybind11/detail/common.h> | ||
| #include <pybind11/pybind11.h> | ||
|
|
||
| namespace mujoco::python { | ||
| namespace { | ||
| PYBIND11_MODULE(_simulate, pymodule) { | ||
| namespace py = ::pybind11; | ||
| using SimulateMutex = decltype(mujoco::Simulate::mtx); | ||
|
|
||
| py::class_<SimulateMutex>(pymodule, "SimulateMutex") | ||
| .def( | ||
| "__enter__", [](SimulateMutex& mtx) { mtx.lock(); }, | ||
| py::call_guard<py::gil_scoped_release>()) | ||
| .def( | ||
| "__exit__", | ||
| [](SimulateMutex& mtx, py::handle, py::handle, py::handle) { | ||
| mtx.unlock(); | ||
| }, | ||
| py::call_guard<py::gil_scoped_release>()); | ||
|
|
||
| py::class_<mujoco::Simulate>(pymodule, "Simulate") | ||
| .def(py::init<>()) | ||
| .def( | ||
| "renderloop", | ||
| [](mujoco::Simulate& simulate) { simulate.renderloop(); }, | ||
| py::call_guard<py::gil_scoped_release>()) | ||
| .def( | ||
| "load", | ||
| [](mujoco::Simulate& simulate, MjModelWrapper& m, MjDataWrapper& d) { | ||
| simulate.load("", m.get(), d.get()); | ||
| }, | ||
| py::call_guard<py::gil_scoped_release>()) | ||
| .def("applyposepertubations", &mujoco::Simulate::applyposepertubations, | ||
| py::call_guard<py::gil_scoped_release>()) | ||
| .def("applyforceperturbations", | ||
| &mujoco::Simulate::applyforceperturbations, | ||
| py::call_guard<py::gil_scoped_release>()) | ||
|
|
||
| .def( | ||
| "lock", | ||
| [](mujoco::Simulate& simulate) -> SimulateMutex& { | ||
| return simulate.mtx; | ||
| }, | ||
| py::call_guard<py::gil_scoped_release>(), | ||
| py::return_value_policy::reference) | ||
| .def_readonly("ctrlnoisestd", &mujoco::Simulate::ctrlnoisestd, | ||
| py::call_guard<py::gil_scoped_release>()) | ||
| .def_readonly("ctrlnoiserate", &mujoco::Simulate::ctrlnoiserate, | ||
| py::call_guard<py::gil_scoped_release>()) | ||
|
|
||
| .def_readonly("real_time_index", &mujoco::Simulate::realTimeIndex, | ||
| py::call_guard<py::gil_scoped_release>()) | ||
| .def_readwrite("speed_changed", &mujoco::Simulate::speedChanged, | ||
| py::call_guard<py::gil_scoped_release>()) | ||
| .def_readwrite("measured_slowdown", &mujoco::Simulate::measuredSlowdown, | ||
| py::call_guard<py::gil_scoped_release>()) | ||
| .def_readonly("refresh_rate", &mujoco::Simulate::refreshRate, | ||
| py::call_guard<py::gil_scoped_release>()) | ||
|
|
||
| .def_readonly("busywait", &mujoco::Simulate::busywait, | ||
| py::call_guard<py::gil_scoped_release>()) | ||
| .def_readonly("run", &mujoco::Simulate::run, | ||
| py::call_guard<py::gil_scoped_release>()) | ||
|
|
||
| .def_property_readonly( | ||
| "exitrequest", | ||
| [](mujoco::Simulate& simulate) { | ||
| return simulate.exitrequest.load(); | ||
| }, | ||
| py::call_guard<py::gil_scoped_release>()) | ||
|
|
||
| .def_property_readonly( | ||
| "uiloadrequest", | ||
| [](mujoco::Simulate& simulate) { | ||
| return simulate.uiloadrequest.load(); | ||
| }, | ||
| py::call_guard<py::gil_scoped_release>()) | ||
| .def( | ||
| "uiloadrequest_decrement", | ||
| [](mujoco::Simulate& simulate) { | ||
| simulate.uiloadrequest.fetch_sub(1); | ||
| }, | ||
| py::call_guard<py::gil_scoped_release>()) | ||
|
|
||
| .def_property( | ||
| "droploadrequest", | ||
| [](mujoco::Simulate& simulate) { | ||
| return simulate.droploadrequest.load(); | ||
| }, | ||
| [](mujoco::Simulate& simulate, bool droploadrequest) { | ||
| simulate.droploadrequest.store(droploadrequest); | ||
| }, | ||
| py::call_guard<py::gil_scoped_release>()) | ||
| .def_property_readonly( | ||
| "dropfilename", | ||
| [](mujoco::Simulate& simulate) -> std::string { | ||
| return simulate.dropfilename; | ||
| }, | ||
| py::call_guard<py::gil_scoped_release>()) | ||
| .def_property_readonly( | ||
| "filename", | ||
| [](mujoco::Simulate& simulate) -> std::string { | ||
| return simulate.filename; | ||
| }, | ||
| py::call_guard<py::gil_scoped_release>()) | ||
| .def_property( | ||
| "load_error", | ||
| [](mujoco::Simulate& simulate) -> std::string { | ||
| return simulate.loadError; | ||
| }, | ||
| [](mujoco::Simulate& simulate, const std::string& error) { | ||
| std::strncpy(simulate.loadError, error.c_str(), | ||
| simulate.kMaxFilenameLength); | ||
| }); | ||
|
|
||
| pymodule.def("setglfwdlhandle", [](std::uintptr_t dlhandle) { | ||
| mujoco::setglfwdlhandle(reinterpret_cast<void*>(dlhandle)); | ||
| }); | ||
| } | ||
|
|
||
| } // namespace | ||
| } // namespace mujoco::python |
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