Implementation:Google deepmind Dm control Autowrap CLI

Knowledge Sources	Google_deepmind_Dm_control
Domains	Code Generation, Build Tools
Last Updated	2026-02-15 04:00 GMT

Overview

The autowrap module is a command-line entry point that orchestrates the automatic generation of Python ctypes bindings from MuJoCo C header files, producing constants.py, enums.py, and sizes.py source files.

Description

The CLI accepts --header_paths (space-separated list of MuJoCo header file paths) and --output_dir via abseil flags. It identifies mjmodel.h and mjxmacro.h for special handling, then reads all headers into an ordered dictionary with mjmodel.h sorted first since other headers depend on it.

A BindingGenerator instance is created with pre-seeded hints for "buffer" and "stack" fields. The tool then runs a three-phase parsing pipeline: (1) parse enums from all headers except mjxmacro.h, (2) parse constants and typedefs from the same headers, (3) parse shape hints from mjxmacro.h. Finally, it writes the generated Python source files to the output directory.

This is the top-level build tool for maintaining dm_control's Python bindings to MuJoCo's C API, automating what would otherwise be tedious manual translation of C header declarations into Python.

Usage

Run this script during the build process whenever MuJoCo header files are updated. It ensures that the Python bindings stay synchronized with MuJoCo releases. Both --header_paths and --output_dir flags are required.

Code Reference

Source Location

• Repository: Google_deepmind_Dm_control
• File: dm_control/autowrap/autowrap.py
• Lines: 1-126

Signature

def main(unused_argv):
    """Parses MuJoCo headers and generates Python bindings."""

Import

from dm_control.autowrap import autowrap

I/O Contract

Inputs

Name	Type	Required	Description
--header_paths	space-separated list	Yes	Paths to MuJoCo header files (must include mjmodel.h and mjxmacro.h)
--output_dir	string	Yes	Path to output directory for generated Python source files

Outputs

Name	Type	Description
constants.py	file	Generated Python file containing MuJoCo constants
enums.py	file	Generated Python file containing MuJoCo enum definitions as namedtuples
sizes.py	file	Generated Python file containing array shape information for indexing

Usage Examples

# Command-line usage:
# autowrap --header_paths='/path/to/mjmodel.h /path/to/mjdata.h /path/to/mjrender.h \
#   /path/to/mjui.h /path/to/mjvisualize.h /path/to/mjxmacro.h /path/to/mujoco.h' \
#   --output_dir=/path/to/mjbindings