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Merge pull request #293773 from GaetanLepage/mujoco

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mujoco: 3.1.2 -> 3.1.3
This commit is contained in:
Samuel Ainsworth 2024-03-07 11:03:32 -05:00 committed by GitHub
commit a417c4b9ec
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GPG key ID: B5690EEEBB952194
3 changed files with 46 additions and 65 deletions
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16
pkgs/applications/science/robotics/mujoco/default.nix
View file

@ -16,8 +16,8 @@ let
abseil-cpp = fetchFromGitHub { abseil-cpp = fetchFromGitHub {
owner = "abseil"; owner = "abseil";
repo = "abseil-cpp"; repo = "abseil-cpp";
rev = "fb3621f4f897824c0dbe0615fa94543df6192f30"; rev = "2f9e432cce407ce0ae50676696666f33a77d42ac";
hash = "sha256-uNGrTNg5G5xFGtc+BSWE389x0tQ/KxJQLHfebNWas/k="; hash = "sha256-D4E11bICKr3Z5RRah7QkfXVsXtuUg32FMmKpiOGjZDM=";
}; };
benchmark = fetchFromGitHub { benchmark = fetchFromGitHub {
owner = "google"; owner = "google";
@ -34,8 +34,8 @@ let
eigen3 = fetchFromGitLab { eigen3 = fetchFromGitLab {
owner = "libeigen"; owner = "libeigen";
repo = "eigen"; repo = "eigen";
rev = "454f89af9d6f3525b1df5f9ef9c86df58bf2d4d3"; rev = "2a9055b50ed22101da7d77e999b90ed50956fe0b";
hash = "sha256-a9QAnv6vIM8a9Bn8ZmfeMT0+kbtb0QGxM0+m5xwIqm8="; hash = "sha256-tx/XR7xJ7IMh5RMvL8wRo/g+dfD3xcjZkLPSY4D9HaY=";
}; };
googletest = fetchFromGitHub { googletest = fetchFromGitHub {
owner = "google"; owner = "google";
@ -96,8 +96,8 @@ let
src = fetchFromGitHub { src = fetchFromGitHub {
owner = "UPC-ViRVIG"; owner = "UPC-ViRVIG";
repo = name; repo = name;
rev = "7c49cfba9bbec763b5d0f7b90b26555f3dde8088"; rev = "1927bee6bb8225258a39c8cbf14e18a4d50409ae";
hash = "sha256-5bnQ3rHH9Pw1jRVpZpamFnhIJHWnGm6krgZgIBqNtVg="; hash = "sha256-+SFUOdZ6pGZvnQa0mT+yfbTMHWe2CTOlroXcuVBHdOE=";
}; };
patches = [ ./sdflib-system-deps.patch ]; patches = [ ./sdflib-system-deps.patch ];
@ -129,7 +129,7 @@ let
in stdenv.mkDerivation rec { in stdenv.mkDerivation rec {
pname = "mujoco"; pname = "mujoco";
version = "3.1.2"; version = "3.1.3";
# Bumping version? Make sure to look though the MuJoCo's commit # Bumping version? Make sure to look though the MuJoCo's commit
# history for bumped dependency pins! # history for bumped dependency pins!
@ -137,7 +137,7 @@ in stdenv.mkDerivation rec {
owner = "google-deepmind"; owner = "google-deepmind";
repo = "mujoco"; repo = "mujoco";
rev = "refs/tags/${version}"; rev = "refs/tags/${version}";
hash = "sha256-Zbz6qq2Sjhcrf8QAGFlYkSZ8mA/wQaP81gRzMj3xh+g="; hash = "sha256-22yH3zAD479TRNS3XSqy6PuuLqyWmjvwScUTVfKumzY=";
}; };
patches = [ ./mujoco-system-deps-dont-fetch.patch ]; patches = [ ./mujoco-system-deps-dont-fetch.patch ];

91
pkgs/applications/science/robotics/mujoco/mujoco-system-deps-dont-fetch.patch
View file

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

4
pkgs/development/python-modules/mujoco/default.nix
View file

@ -17,7 +17,7 @@
buildPythonPackage rec { buildPythonPackage rec {
pname = "mujoco"; pname = "mujoco";
version = "3.1.2"; version = "3.1.3";
pyproject = true; pyproject = true;
@ -27,7 +27,7 @@ buildPythonPackage rec {
# in the project's CI. # in the project's CI.
src = fetchPypi { src = fetchPypi {
inherit pname version; inherit pname version;
hash = "sha256-U1MLwakZA/P9Sx6ZgYzDj72ZEXANspssn8g58jv6y7g="; hash = "sha256-9wDQdAMQYLRhEd22BDLQBCX4Ie7q8MzHbtldR4Yb1N4=";
}; };
nativeBuildInputs = [ cmake setuptools ]; nativeBuildInputs = [ cmake setuptools ];