try:
library_path = ffibuilder.compile(verbose=True)
except Exception as e:
build_fn_cleanup(name)
raise e
# On Mac the MuJoCo library is linked strangely, so we have to fix it here
if sys.platform == 'darwin':
fixed_library_path = manually_link_libraries(mujoco_path, library_path)
move(fixed_library_path, library_path) # Overwrite with fixed library
module = load_dynamic_ext(name, library_path)
# Now that the module is loaded into memory, we can actually delete it
build_fn_cleanup(name)
return module.lib.__fun
mujoco_path = discover_mujoco()
cymj = load_cython_ext(mujoco_path)
# Trick to expose all mj* functions from mujoco in mujoco_py.*
class dict2(object):
pass
functions = dict2()
for func_name in dir(cymj):
if func_name.startswith("_mj"):
setattr(functions, func_name[1:], getattr(cymj, func_name))
# Set user-defined callbacks that raise assertion with message
cymj.set_warning_callback(user_warning_raise_exception)
try:
library_path = ffibuilder.compile(verbose=True)
except Exception as e:
build_fn_cleanup(name)
raise e
# On Mac the MuJoCo library is linked strangely, so we have to fix it here
if sys.platform == 'darwin':
fixed_library_path = manually_link_libraries(mjpro_path, library_path)
move(fixed_library_path, library_path) # Overwrite with fixed library
module = load_dynamic_ext(name, library_path)
# Now that the module is loaded into memory, we can actually delete it
build_fn_cleanup(name)
return module.lib.__fun
mjpro_path, key_path = discover_mujoco()
cymj = load_cython_ext(mjpro_path)
# Trick to expose all mj* functions from mujoco in mujoco_py.*
class dict2(object):
pass
functions = dict2()
for func_name in dir(cymj):
if func_name.startswith("_mj"):
setattr(functions, func_name[1:], getattr(cymj, func_name))
functions.mj_activate(key_path)
class ignore_mujoco_warnings:
"""
Class to turn off mujoco warning exceptions within a scope. Useful for
large, vectorized rollouts.
"""
def __enter__(self):
self.prev_user_warning = cymj.get_warning_callback()
cymj.set_warning_callback(user_warning_ignore_exception)
return self
def __exit__(self, type, value, traceback):
cymj.set_warning_callback(self.prev_user_warning)
mjpro_path, key_path = discover_mujoco()
cymj = load_cython_ext(mjpro_path)
# Trick to expose all mj* functions from mujoco in mujoco_py.*
class dict2(object):
pass
functions = dict2()
for func_name in dir(cymj):
if func_name.startswith("_mj"):
setattr(functions, func_name[1:], getattr(cymj, func_name))
functions.mj_activate(key_path)
