free-mujoco-py on PyPi with included binaries

.github/workflows/build_wheels.yml

@@ -0,0 +1,49 @@
+name: Build
+
+on: [push, pull_request]
+
+jobs:
+  ci:
+    strategy:
+      fail-fast: false
+      matrix:
+        python-version: [3.7, 3.8, 3.9]
+        poetry-version: [1.1.11]
+        os: [ubuntu-18.04]
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v2
+      - uses: actions/setup-python@v2
+        with:
+          python-version: ${{ matrix.python-version }}
+      - name: Run image
+        uses: abatilo/[email protected]
+        with:
+          poetry-version: ${{ matrix.poetry-version }}
+      - name: Download mujoco
+        run: bash download_mujoco.sh
+      - name: Install ubuntu dependencies
+        run:  |
+          sudo apt-get update -q \
+              && DEBIAN_FRONTEND=noninteractive sudo apt-get install -y \
+              curl \
+              git \
+              libgl1-mesa-dev \
+              libgl1-mesa-glx \
+              libglew-dev \
+              libosmesa6-dev \
+              software-properties-common \
+              net-tools \
+              vim \
+              virtualenv \
+              wget \
+              xpra \
+              xserver-xorg-dev
+      - name: Install poetry dependencies
+        run: poetry install
+      - name: Build wheels
+        run: poetry build
+      - uses: actions/upload-artifact@v2
+        with:
+          name: wheels
+          path: dist

.gitignore

@@ -1,3 +1,4 @@
+mujoco_py/binaries
 mujoco-py-**
 mjkey.txt
 mujoco_py/generated/cymj*

Dockerfile

@@ -36,12 +36,12 @@ RUN curl -o /usr/local/bin/patchelf https://s3-us-west-2.amazonaws.com/openai-sc
 
 ENV LANG C.UTF-8
 
-RUN mkdir -p /root/.mujoco \
-    && wget https://mujoco.org/download/mujoco210-linux-x86_64.tar.gz -O mujoco.tar.gz \
-    && tar -xf mujoco.tar.gz -C /root/.mujoco \
-    && rm mujoco.tar.gz
+# RUN mkdir -p /root/.mujoco \
+#     && wget https://mujoco.org/download/mujoco210-linux-x86_64.tar.gz -O mujoco.tar.gz \
+#     && tar -xf mujoco.tar.gz -C /root/.mujoco \
+#     && rm mujoco.tar.gz
 
-ENV LD_LIBRARY_PATH /root/.mujoco/mujoco210/bin:${LD_LIBRARY_PATH}
+# ENV LD_LIBRARY_PATH /root/.mujoco/mujoco210/bin:${LD_LIBRARY_PATH}
 ENV LD_LIBRARY_PATH /usr/local/nvidia/lib64:${LD_LIBRARY_PATH}
 
 COPY vendor/Xdummy /usr/local/bin/Xdummy
@@ -51,6 +51,8 @@ RUN chmod +x /usr/local/bin/Xdummy
 COPY ./vendor/10_nvidia.json /usr/share/glvnd/egl_vendor.d/10_nvidia.json
 
 WORKDIR /mujoco_py
+COPY download_mujoco.sh download_mujoco.sh
+RUN bash download_mujoco.sh
 # Copy over just requirements.txt at first. That way, the Docker cache doesn't
 # expire until we actually change the requirements.
 COPY ./requirements.txt /mujoco_py/

build.py

@@ -0,0 +1,7 @@
+import os
+
+
+def build(setup_kwargs):
+    os.environ['MUJOCO_PY_FORCE_REBUILD'] = 'True'
+    os.environ['MUJOCO_PY_SKIP_ACTIVATE'] = 'True'
+    import mujoco_py  # noqa: force build

download_mujoco.sh

@@ -0,0 +1,14 @@
+mkdir -p mujoco_py/binaries/linux \
+    && wget https://mujoco.org/download/mujoco210-linux-x86_64.tar.gz -O mujoco.tar.gz \
+    && tar -xf mujoco.tar.gz -C mujoco_py/binaries/linux \
+    && rm mujoco.tar.gz
+
+mkdir -p mujoco_py/binaries/windows \
+    && wget https://mujoco.org/download/mujoco210-windows-x86_64.zip -O mujoco.zip \
+    && unzip mujoco.zip -d mujoco_py/binaries/windows \
+    && rm mujoco.zip
+
+mkdir -p mujoco_py/binaries/macos \
+    && wget https://mujoco.org/download/mujoco210-macos-x86_64.tar.gz -O mujoco.tar.gz \
+    && tar -xf mujoco.tar.gz -C mujoco_py/binaries/macos \
+    && rm mujoco.tar.gz

mujoco_py/__init__.py

@@ -1,3 +1,16 @@
+import os
+from sys import platform
+import mujoco_py
+if platform == "linux" or platform == "linux2":
+    os.environ["MUJOCO_PY_MUJOCO_PATH"] = os.path.join(mujoco_py.__path__[0], "binaries", "linux", "mujoco210")
+    os.environ["LD_LIBRARY_PATH"] = os.path.join(mujoco_py.__path__[0], "binaries", "linux", "mujoco210", "bin")
+elif platform == "darwin":
+    os.environ["MUJOCO_PY_MUJOCO_PATH"] = os.path.join(mujoco_py.__path__[0], "binaries", "macos", "mujoco210")
+    os.environ["LD_LIBRARY_PATH"] = os.path.join(mujoco_py.__path__[0], "binaries", "macos", "mujoco210", "bin")
+elif platform == "win32":
+    os.environ["MUJOCO_PY_MUJOCO_PATH"] = os.path.join(mujoco_py.__path__[0], "binaries", "windows", "mujoco210")
+    os.environ["LD_LIBRARY_PATH"] = os.path.join(mujoco_py.__path__[0], "binaries", "windows", "mujoco210", "bin")
+
 #!/usr/bin/env python
 from mujoco_py.builder import cymj, ignore_mujoco_warnings, functions, MujocoException
 from mujoco_py.generated import const

mujoco_py/builder.py

@@ -272,8 +272,8 @@ def __init__(self, mujoco_path):
     def _build_impl(self):
         so_file_path = super()._build_impl()
         # Removes absolute paths to libraries. Allows for dynamic loading.
-        fix_shared_library(so_file_path, 'libmujoco210.so', 'libmujoco210.so')
-        fix_shared_library(so_file_path, 'libglewosmesa.so', 'libglewosmesa.so')
+        fix_shared_library(so_file_path, 'libmujoco210.so', f'{os.environ["LD_LIBRARY_PATH"]}/libmujoco210.so')
+        fix_shared_library(so_file_path, 'libglewosmesa.so', f'{os.environ["LD_LIBRARY_PATH"]}/libglewosmesa.so')
         return so_file_path
 
 
@@ -289,10 +289,10 @@ def __init__(self, mujoco_path):
 
     def _build_impl(self):
         so_file_path = super()._build_impl()
-        fix_shared_library(so_file_path, 'libOpenGL.so', 'libOpenGL.so.0')
-        fix_shared_library(so_file_path, 'libEGL.so', 'libEGL.so.1')
-        fix_shared_library(so_file_path, 'libmujoco210.so', 'libmujoco210.so')
-        fix_shared_library(so_file_path, 'libglewegl.so', 'libglewegl.so')
+        fix_shared_library(so_file_path, 'libOpenGL.so', f'{os.environ["LD_LIBRARY_PATH"]}/libOpenGL.so.0')
+        fix_shared_library(so_file_path, 'libEGL.so', f'{os.environ["LD_LIBRARY_PATH"]}/libEGL.so.1')
+        fix_shared_library(so_file_path, 'libmujoco210.so', f'{os.environ["LD_LIBRARY_PATH"]}/libmujoco210.so')
+        fix_shared_library(so_file_path, 'libglewegl.so', f'{os.environ["LD_LIBRARY_PATH"]}/libglewegl.so')
         return so_file_path