Merge pull request #293773 from GaetanLepage/mujoco

mujoco: 3.1.2 -> 3.1.3
2024-03-07 11:03:32 -05:00 · 2024-03-07 11:03:32 -05:00 · a417c4b9ec
commit a417c4b9ec
parent 11bc4ce466 7d4682f9c2
3 changed files with 46 additions and 65 deletions
--- a/pkgs/applications/science/robotics/mujoco/default.nix
+++ b/pkgs/applications/science/robotics/mujoco/default.nix
@ -16,8 +16,8 @@ let
    abseil-cpp = fetchFromGitHub {
      owner = "abseil";
      repo = "abseil-cpp";
-      rev = "fb3621f4f897824c0dbe0615fa94543df6192f30";
-      hash = "sha256-uNGrTNg5G5xFGtc+BSWE389x0tQ/KxJQLHfebNWas/k=";
+      rev = "2f9e432cce407ce0ae50676696666f33a77d42ac";
+      hash = "sha256-D4E11bICKr3Z5RRah7QkfXVsXtuUg32FMmKpiOGjZDM=";
    };
    benchmark = fetchFromGitHub {
      owner = "google";
@ -34,8 +34,8 @@ let
    eigen3 = fetchFromGitLab {
      owner = "libeigen";
      repo = "eigen";
-      rev = "454f89af9d6f3525b1df5f9ef9c86df58bf2d4d3";
-      hash = "sha256-a9QAnv6vIM8a9Bn8ZmfeMT0+kbtb0QGxM0+m5xwIqm8=";
+      rev = "2a9055b50ed22101da7d77e999b90ed50956fe0b";
+      hash = "sha256-tx/XR7xJ7IMh5RMvL8wRo/g+dfD3xcjZkLPSY4D9HaY=";
    };
    googletest = fetchFromGitHub {
      owner = "google";
@ -96,8 +96,8 @@ let
      src = fetchFromGitHub {
        owner = "UPC-ViRVIG";
        repo = name;
-        rev = "7c49cfba9bbec763b5d0f7b90b26555f3dde8088";
-        hash = "sha256-5bnQ3rHH9Pw1jRVpZpamFnhIJHWnGm6krgZgIBqNtVg=";
+        rev = "1927bee6bb8225258a39c8cbf14e18a4d50409ae";
+        hash = "sha256-+SFUOdZ6pGZvnQa0mT+yfbTMHWe2CTOlroXcuVBHdOE=";
      };

      patches = [ ./sdflib-system-deps.patch ];
@ -129,7 +129,7 @@ let

 in stdenv.mkDerivation rec {
  pname = "mujoco";
-  version = "3.1.2";
+  version = "3.1.3";

  # Bumping version? Make sure to look though the MuJoCo's commit
  # history for bumped dependency pins!
@ -137,7 +137,7 @@ in stdenv.mkDerivation rec {
    owner = "google-deepmind";
    repo = "mujoco";
    rev = "refs/tags/${version}";
-    hash = "sha256-Zbz6qq2Sjhcrf8QAGFlYkSZ8mA/wQaP81gRzMj3xh+g=";
+    hash = "sha256-22yH3zAD479TRNS3XSqy6PuuLqyWmjvwScUTVfKumzY=";
  };

  patches = [ ./mujoco-system-deps-dont-fetch.patch ];
--- a/pkgs/applications/science/robotics/mujoco/mujoco-system-deps-dont-fetch.patch
+++ b/pkgs/applications/science/robotics/mujoco/mujoco-system-deps-dont-fetch.patch
@ -1,8 +1,8 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 285250b..32d03e3 100644
+index eea180c0..efb39178 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -92,7 +92,7 @@ add_subdirectory(src/render)
+@@ -93,7 +93,7 @@ add_subdirectory(src/render)
 add_subdirectory(src/thread)
 add_subdirectory(src/ui)
 
@ -11,7 +11,7 @@ index 285250b..32d03e3 100644
 if(MUJOCO_ENABLE_AVX_INTRINSICS)
   target_compile_definitions(mujoco PUBLIC mjUSEPLATFORMSIMD)
 endif()
-@@ -117,7 +117,7 @@ target_link_libraries(
+@@ -118,7 +118,7 @@ target_link_libraries(
           lodepng
           qhullstatic_r
           tinyobjloader
@ -21,30 +21,17 @@ index 285250b..32d03e3 100644
 
 set_target_properties(
 diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
-index 4e3e2c8..f6143d9 100644
+index 44962272..656beeb8 100644
 --- a/cmake/MujocoDependencies.cmake
 +++ b/cmake/MujocoDependencies.cmake
-@@ -90,153 +90,203 @@ set(BUILD_SHARED_LIBS
-     CACHE INTERNAL "Build SHARED libraries"
- )
- 
-+
+@@ -93,28 +93,36 @@ set(BUILD_SHARED_LIBS
 if(NOT TARGET lodepng)
-  FetchContent_Declare(
-+  fetchcontent_declare(
+   FetchContent_Declare(
     lodepng
 -    GIT_REPOSITORY https://github.com/lvandeve/lodepng.git
 -    GIT_TAG ${MUJOCO_DEP_VERSION_lodepng}
   )
 +endif()
-+
-+if(NOT TARGET lodepng)
-+  if(NOT MUJOCO_USE_SYSTEM_lodepng)
-+    fetchcontent_declare(
-+      lodepng
-+      GIT_REPOSITORY https://github.com/lvandeve/lodepng.git
-+      GIT_TAG ${MUJOCO_DEP_VERSION_lodepng}
-+    )
 
 -  FetchContent_GetProperties(lodepng)
 -  if(NOT lodepng_POPULATED)
@ -56,9 +43,17 @@ index 4e3e2c8..f6143d9 100644
 -    target_compile_options(lodepng PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
 -    target_link_options(lodepng PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
 -    target_include_directories(lodepng PUBLIC ${lodepng_SOURCE_DIR})
-+    fetchcontent_getproperties(lodepng)
+if(NOT TARGET lodepng)
+  if(NOT MUJOCO_USE_SYSTEM_lodepng)
+    fetchcontent_declare(
+      lodepng
+      GIT_REPOSITORY https://github.com/lvandeve/lodepng.git
+      GIT_TAG ${MUJOCO_DEP_VERSION_lodepng}
+    )
+
+    FetchContent_GetProperties(lodepng)
 +    if(NOT lodepng_POPULATED)
-+      fetchcontent_populate(lodepng)
+      FetchContent_Populate(lodepng)
 +      # This is not a CMake project.
 +      set(LODEPNG_SRCS ${lodepng_SOURCE_DIR}/lodepng.cpp)
 +      set(LODEPNG_HEADERS ${lodepng_SOURCE_DIR}/lodepng.h)
@ -73,19 +68,14 @@ index 4e3e2c8..f6143d9 100644
 endif()
 
 if(NOT TARGET marchingcubecpp)
-  FetchContent_Declare(
-+  fetchcontent_declare(
+   FetchContent_Declare(
     marchingcubecpp
 -    GIT_REPOSITORY https://github.com/aparis69/MarchingCubeCpp.git
 -    GIT_TAG ${MUJOCO_DEP_VERSION_MarchingCubeCpp}
   )
 
-  FetchContent_GetProperties(marchingcubecpp)
-+  fetchcontent_getproperties(marchingcubecpp)
-   if(NOT marchingcubecpp_POPULATED)
-    FetchContent_Populate(marchingcubecpp)
-+    fetchcontent_populate(marchingcubecpp)
-     include_directories(${marchingcubecpp_SOURCE_DIR})
+   FetchContent_GetProperties(marchingcubecpp)
+@@ -124,119 +132,158 @@ if(NOT TARGET marchingcubecpp)
   endif()
 endif()
 
@ -118,7 +108,6 @@ index 4e3e2c8..f6143d9 100644
 -)
 -target_compile_options(qhullstatic_r PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
 -target_link_options(qhullstatic_r PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
-+
 +if(NOT MUJOCO_USE_SYSTEM_qhull)
 +  # MuJoCo includes a file from libqhull_r which is not exported by the qhull include directories.
 +  # Add it to the target.
@ -165,7 +154,6 @@ index 4e3e2c8..f6143d9 100644
 )
 -target_compile_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
 -target_link_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
-+
 +if(NOT MUJOCO_USE_SYSTEM_tinyxml2)
 +  target_compile_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
 +  target_link_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
@ -297,7 +285,7 @@ index 4e3e2c8..f6143d9 100644
   set(ABSL_PROPAGATE_CXX_STD ON)
 
   # This specific version of Abseil does not have the following variable. We need to work with BUILD_TESTING
-@@ -249,15 +299,11 @@ if(MUJOCO_BUILD_TESTS)
+@@ -249,15 +296,11 @@ if(MUJOCO_BUILD_TESTS)
   set(ABSL_BUILD_TESTING OFF)
   findorfetch(
     USE_SYSTEM_PACKAGE
@ -314,7 +302,7 @@ index 4e3e2c8..f6143d9 100644
     TARGETS
     absl::core_headers
     EXCLUDE_FROM_ALL
-@@ -268,6 +314,9 @@ if(MUJOCO_BUILD_TESTS)
+@@ -268,6 +311,9 @@ if(MUJOCO_BUILD_TESTS)
       CACHE BOOL "Build tests." FORCE
   )
 
@ -324,7 +312,7 @@ index 4e3e2c8..f6143d9 100644
   # Avoid linking errors on Windows by dynamically linking to the C runtime.
   set(gtest_force_shared_crt
       ON
-@@ -276,22 +325,20 @@ if(MUJOCO_BUILD_TESTS)
+@@ -276,22 +322,20 @@ if(MUJOCO_BUILD_TESTS)
 
   findorfetch(
     USE_SYSTEM_PACKAGE
@ -353,7 +341,7 @@ index 4e3e2c8..f6143d9 100644
   set(BENCHMARK_EXTRA_FETCH_ARGS "")
   if(WIN32 AND NOT MSVC)
     set(BENCHMARK_EXTRA_FETCH_ARGS
-@@ -310,15 +357,11 @@ if(MUJOCO_BUILD_TESTS)
+@@ -310,15 +354,11 @@ if(MUJOCO_BUILD_TESTS)
 
   findorfetch(
     USE_SYSTEM_PACKAGE
@ -370,7 +358,7 @@ index 4e3e2c8..f6143d9 100644
     TARGETS
     benchmark::benchmark
     benchmark::benchmark_main
-@@ -328,26 +371,42 @@ if(MUJOCO_BUILD_TESTS)
+@@ -328,15 +368,18 @@ if(MUJOCO_BUILD_TESTS)
 endif()
 
 if(MUJOCO_TEST_PYTHON_UTIL)
@ -387,21 +375,14 @@ index 4e3e2c8..f6143d9 100644
 +      set(CMAKE_POLICY_DEFAULT_CMP0057 NEW)
 +    endif()
 
-    FetchContent_Declare(
-+    fetchcontent_declare(
+     FetchContent_Declare(
       Eigen3
 -      GIT_REPOSITORY https://gitlab.com/libeigen/eigen.git
 -      GIT_TAG ${MUJOCO_DEP_VERSION_Eigen3}
     )
 
-    FetchContent_GetProperties(Eigen3)
-+    fetchcontent_getproperties(Eigen3)
-     if(NOT Eigen3_POPULATED)
-      FetchContent_Populate(Eigen3)
-+      fetchcontent_populate(Eigen3)
- 
-       # Mark the library as IMPORTED as a workaround for https://gitlab.kitware.com/cmake/cmake/-/issues/15415
-       add_library(Eigen3::Eigen INTERFACE IMPORTED)
+     FetchContent_GetProperties(Eigen3)
+@@ -348,6 +391,19 @@ if(MUJOCO_TEST_PYTHON_UTIL)
       set_target_properties(
         Eigen3::Eigen PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${eigen3_SOURCE_DIR}"
       )
@ -422,7 +403,7 @@ index 4e3e2c8..f6143d9 100644
   endif()
 endif()
 diff --git a/plugin/sdf/CMakeLists.txt b/plugin/sdf/CMakeLists.txt
-index 3e216fc..e7e3a1e 100644
+index 3e216fc4..e7e3a1eb 100644
 --- a/plugin/sdf/CMakeLists.txt
 +++ b/plugin/sdf/CMakeLists.txt
@@ -37,7 +37,7 @@ set(MUJOCO_SDF_SRCS
@ -435,7 +416,7 @@ index 3e216fc..e7e3a1e 100644
   sdf
   PRIVATE ${AVX_COMPILE_OPTIONS}
 diff --git a/python/mujoco/util/CMakeLists.txt b/python/mujoco/util/CMakeLists.txt
-index 666a372..d89bb49 100644
+index 666a3725..d89bb499 100644
 --- a/python/mujoco/util/CMakeLists.txt
 +++ b/python/mujoco/util/CMakeLists.txt
@@ -63,8 +63,8 @@ if(BUILD_TESTING)
@ -483,7 +464,7 @@ index 666a372..d89bb49 100644
   gtest_add_tests(TARGET tuple_tools_test SOURCES tuple_tools_test.cc)
 endif()
 diff --git a/simulate/cmake/SimulateDependencies.cmake b/simulate/cmake/SimulateDependencies.cmake
-index 5141406..75ff788 100644
+index 5141406c..75ff7884 100644
 --- a/simulate/cmake/SimulateDependencies.cmake
 +++ b/simulate/cmake/SimulateDependencies.cmake
@@ -81,10 +81,6 @@ findorfetch(
@ -498,7 +479,7 @@ index 5141406..75ff788 100644
   glfw
   EXCLUDE_FROM_ALL
 diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
-index 6bec911..2a16c21 100644
+index 122760a9..ddd90819 100644
 --- a/test/CMakeLists.txt
 +++ b/test/CMakeLists.txt
@@ -30,7 +30,7 @@ macro(mujoco_test name)
@ -510,10 +491,10 @@ index 6bec911..2a16c21 100644
   target_include_directories(${name} PRIVATE ${MUJOCO_TEST_INCLUDE})
   set_target_properties(${name} PROPERTIES BUILD_RPATH ${CMAKE_LIBRARY_OUTPUT_DIRECTORY})
   # gtest_discover_tests is recommended over gtest_add_tests, but has some issues in Windows.
-@@ -59,20 +59,20 @@ target_link_libraries(
-   PUBLIC absl::core_headers
-          absl::strings
+@@ -60,20 +60,20 @@ target_link_libraries(
          absl::synchronization
+          absl::flat_hash_map
+          absl::flat_hash_set
 -         gtest
 -         gmock
 +         GTest::gtest
@ -528,11 +509,11 @@ index 6bec911..2a16c21 100644
 
 mujoco_test(header_test)
 -target_link_libraries(header_test fixture gmock)
-+target_link_libraries(header_test fixture GTest::gmock)
+target_link_libraries(fixture_test fixture GTest::gmock)
 
 mujoco_test(pipeline_test)
 -target_link_libraries(pipeline_test fixture gmock)
-+target_link_libraries(pipeline_test fixture GTest::gmock)
+target_link_libraries(fixture_test fixture GTest::gmock)
 
 add_subdirectory(benchmark)
 add_subdirectory(engine)
--- a/pkgs/development/python-modules/mujoco/default.nix
+++ b/pkgs/development/python-modules/mujoco/default.nix
@ -17,7 +17,7 @@

 buildPythonPackage rec {
  pname = "mujoco";
-  version = "3.1.2";
+  version = "3.1.3";

  pyproject = true;

@ -27,7 +27,7 @@ buildPythonPackage rec {
  # in the project's CI.
  src = fetchPypi {
    inherit pname version;
-    hash = "sha256-U1MLwakZA/P9Sx6ZgYzDj72ZEXANspssn8g58jv6y7g=";
+    hash = "sha256-9wDQdAMQYLRhEd22BDLQBCX4Ie7q8MzHbtldR4Yb1N4=";
  };

  nativeBuildInputs = [ cmake setuptools ];