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Fix segfault with protobuf, gym (atari), cv2, and ScenarIO #316

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Mar 31, 2021
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Fix segfault with protobuf, gym (atari), cv2, and ScenarIO #316

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17 changes: 17 additions & 0 deletions bindings/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -74,6 +74,18 @@ def preload_tensorflow_shared_libraries() -> None:
ctypes.CDLL(str(lib))


def pre_import_gym() -> None:

# Check if gym is installed
import importlib.util
spec = importlib.util.find_spec("gym")

if spec is None:
return

import gym


def import_gazebo() -> None:

# Check the the module was never loaded by someone else
Expand All @@ -85,6 +97,11 @@ def import_gazebo() -> None:
if os.environ.get("SCENARIO_DISABLE_TENSORFLOW_PRELOAD") != "1":
preload_tensorflow_shared_libraries()

# Import gym before scenario.bindings.gazebo. Similarly to tensorflow, also gym
# includes a module that imports protobuf, producing a similar segfault.
if os.environ.get("SCENARIO_DISABLE_GYM_PREIMPORT") != "1":
pre_import_gym()

# Import SWIG bindings
# See https://github.com/robotology/gym-ignition/issues/7
# https://stackoverflow.com/a/45473441/12150968
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