builder.py 文件源码

def __init__(self, mjpro_path):
        self.mjpro_path = mjpro_path
        self.extension = Extension(
            'mujoco_py.cymj',
            sources=[join(self.CYMJ_DIR_PATH, "cymj.pyx")],
            include_dirs=[
                self.CYMJ_DIR_PATH,
                join(mjpro_path, 'include'),
                np.get_include(),
            ],
            libraries=['mujoco150'],
            library_dirs=[join(mjpro_path, 'bin')],
            extra_compile_args=[
                '-fopenmp',  # needed for OpenMP
                '-w',  # suppress numpy compilation warnings
            ],
            extra_link_args=['-fopenmp'],
            language='c')