# Copyright 2017-2018 The dm_control Authors. # # 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. # ============================================================================ """Install script for setuptools.""" import fnmatch import logging import os import platform import subprocess import sys import mujoco import setuptools from setuptools import find_packages from setuptools import setup from setuptools.command import install PLATFORM = platform.system() # Relative paths to the binding generator script and the output directory. AUTOWRAP_PATH = 'dm_control/autowrap/autowrap.py' MJBINDINGS_DIR = 'dm_control/mujoco/wrapper/mjbindings' # We specify the header filenames explicitly rather than listing the contents # of the `HEADERS_DIR` at runtime, since it will probably contain other stuff # (e.g. `glfw.h`). HEADER_FILENAMES = [ 'mjdata.h', 'mjmodel.h', 'mjrender.h', 'mjtype.h', 'mjui.h', 'mjvisualize.h', 'mjxmacro.h', 'mujoco.h', ] def _initialize_mjbindings_options(cmd_instance): """Set default values for options relating to `build_mjbindings`.""" # A default value must be assigned to each user option here. cmd_instance.inplace = 0 cmd_instance.headers_dir = mujoco.HEADERS_DIR def _finalize_mjbindings_options(cmd_instance): """Post-process options relating to `build_mjbindings`.""" headers_dir = os.path.expanduser(cmd_instance.headers_dir) header_paths = [] for filename in HEADER_FILENAMES: full_path = os.path.join(headers_dir, filename) if not os.path.exists(full_path): raise IOError('Header file {!r} does not exist.'.format(full_path)) header_paths.append(full_path) cmd_instance.header_paths = ' '.join(header_paths) class BuildMJBindingsCommand(setuptools.Command): """Runs `autowrap.py` to generate the low-level ctypes bindings for MuJoCo.""" description = __doc__ user_options = [ # The format is (long option, short option, description). ('headers-dir=', None, 'Path to directory containing MuJoCo headers.'), ( 'inplace=', None, 'Place generated files in source directory rather than `build-lib`.', ), ] boolean_options = ['inplace'] def initialize_options(self): _initialize_mjbindings_options(self) def finalize_options(self): _finalize_mjbindings_options(self) def run(self): cwd = os.path.realpath(os.curdir) if self.inplace: dist_root = cwd else: build_cmd = self.get_finalized_command('build') dist_root = os.path.realpath(build_cmd.build_lib) output_dir = os.path.join(dist_root, MJBINDINGS_DIR) command = [ sys.executable or 'python', AUTOWRAP_PATH, '--header_paths={}'.format(self.header_paths), '--output_dir={}'.format(output_dir), ] self.announce('Running command: {}'.format(command), level=logging.DEBUG) try: # Prepend the current directory to $PYTHONPATH so that internal imports # in `autowrap` can succeed before we've installed anything. old_environ = os.environ.copy() new_pythonpath = [cwd] if 'PYTHONPATH' in old_environ: new_pythonpath.append(old_environ['PYTHONPATH']) os.environ['PYTHONPATH'] = ':'.join(new_pythonpath) subprocess.check_call(command) finally: os.environ = old_environ class InstallCommand(install.install): """Runs 'build_mjbindings' before installation.""" user_options = ( install.install.user_options + BuildMJBindingsCommand.user_options ) boolean_options = ( install.install.boolean_options + BuildMJBindingsCommand.boolean_options ) def initialize_options(self): install.install.initialize_options(self) _initialize_mjbindings_options(self) def finalize_options(self): install.install.finalize_options(self) _finalize_mjbindings_options(self) def run(self): self.reinitialize_command('build_mjbindings') self.run_command('build_mjbindings') install.install.run(self) def find_data_files(package_dir, patterns, excludes=()): """Recursively finds files whose names match the given shell patterns.""" paths = set() def is_excluded(s): for exclude in excludes: if fnmatch.fnmatch(s, exclude): return True return False for directory, _, filenames in os.walk(package_dir): if is_excluded(directory): continue for pattern in patterns: for filename in fnmatch.filter(filenames, pattern): # NB: paths must be relative to the package directory. relative_dirpath = os.path.relpath(directory, package_dir) full_path = os.path.join(relative_dirpath, filename) if not is_excluded(full_path): paths.add(full_path) return list(paths) setup( name='dm_control', version='1.0.42', description='Continuous control environments and MuJoCo Python bindings.', long_description=""" # `dm_control`: DeepMind Infrastructure for Physics-Based Simulation. DeepMind's software stack for physics-based simulation and Reinforcement Learning environments, using MuJoCo physics. An **introductory tutorial** for this package is available as a Colaboratory notebook: [Open In Google Colab](https://colab.research.google.com/github/google-deepmind/dm_control/blob/main/tutorial.ipynb). """, long_description_content_type='text/markdown', author='DeepMind', author_email='mujoco@deepmind.com', url='https://github.com/google-deepmind/dm_control', license='Apache-2.0', keywords='machine learning control physics MuJoCo AI', python_requires='>=3.9', install_requires=[ 'absl-py>=0.7.0', 'dm-env', 'dm-tree != 0.1.2', 'glfw', 'labmaze', 'lxml', 'mujoco >= 3.9.0', 'numpy >= 1.9.0', 'protobuf >= 3.19.4', 'pyopengl >= 3.1.4', 'pyparsing >= 3.0.0', 'requests', 'setuptools!=50.0.0', # https://github.com/pypa/setuptools/issues/2350 'scipy', 'tqdm', ], extras_require={ 'HDF5': ['h5py'], }, tests_require=[ 'mock', 'pytest', 'pillow>=10.2.0', ], packages=find_packages(), package_data={ 'dm_control': find_data_files( package_dir='dm_control', patterns=[ '*.amc', '*.msh', '*.png', '*.skn', '*.stl', '*.xml', '*.textproto', '*.h5', '*.zip', ], excludes=[ '*/dog_assets/extras/*', '*/kinova/meshes/*', # Exclude non-decimated meshes. ], ), }, cmdclass={ 'build_mjbindings': BuildMJBindingsCommand, 'install': InstallCommand, }, entry_points={}, )