Unverified Commit 0bed581d authored by Gaétan Lepage's avatar Gaétan Lepage Committed by GitHub
Browse files

mujoco: 3.2.6 -> 3.2.7 (#373949)

parents bf14956b 1276ef2a

pkgs/by-name/mu/mujoco/mujoco-system-deps-dont-fetch.patch

+12 −46
Original line number Diff line number Diff line 
diff --git a/CMakeLists.txt b/CMakeLists.txt

index eea180c0..efb39178 100644

index aaac4e38..fe4e9932 100644

--- a/CMakeLists.txt

+++ b/CMakeLists.txt

@@ -93,7 +93,7 @@ add_subdirectory(src/render)

 add_subdirectory(src/thread)

 add_subdirectory(src/ui)

 

-target_compile_definitions(mujoco PRIVATE _GNU_SOURCE CCD_STATIC_DEFINE MUJOCO_DLL_EXPORTS -DMC_IMPLEM_ENABLE)

+target_compile_definitions(mujoco PRIVATE _GNU_SOURCE MUJOCO_DLL_EXPORTS -DMC_IMPLEM_ENABLE)

 if(MUJOCO_ENABLE_AVX_INTRINSICS)

   target_compile_definitions(mujoco PUBLIC mjUSEPLATFORMSIMD)

 endif()

@@ -118,7 +118,7 @@ target_link_libraries(

@@ -120,7 +120,7 @@ target_link_libraries(

           lodepng

           qhullstatic_r

           tinyobjloader
@@ -21,7 +12,7 @@ index eea180c0..efb39178 100644 
 

 set_target_properties(

diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake

index 44962272..656beeb8 100644

index 23e4e71e..33081e00 100644

--- a/cmake/MujocoDependencies.cmake

+++ b/cmake/MujocoDependencies.cmake

@@ -93,28 +93,36 @@ set(BUILD_SHARED_LIBS
@@ -75,7 +66,7 @@ index 44962272..656beeb8 100644 
   )

 

   FetchContent_GetProperties(marchingcubecpp)

@@ -124,119 +132,158 @@ if(NOT TARGET marchingcubecpp)

@@ -124,119 +132,157 @@ if(NOT TARGET marchingcubecpp)

   endif()

 endif()
@@ -196,7 +187,6 @@ index 44962272..656beeb8 100644 
 option(SDFLIB_USE_ASSIMP OFF)

 option(SDFLIB_USE_OPENMP OFF)

 option(SDFLIB_USE_ENOKI OFF)

+

 findorfetch(

   USE_SYSTEM_PACKAGE

-  OFF
@@ -285,7 +275,7 @@ index 44962272..656beeb8 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 +296,11 @@ if(MUJOCO_BUILD_TESTS)

@@ -249,15 +295,11 @@ if(MUJOCO_BUILD_TESTS)

   set(ABSL_BUILD_TESTING OFF)

   findorfetch(

     USE_SYSTEM_PACKAGE
@@ -302,7 +292,7 @@ index 44962272..656beeb8 100644 
     TARGETS

     absl::core_headers

     EXCLUDE_FROM_ALL

@@ -268,6 +311,9 @@ if(MUJOCO_BUILD_TESTS)

@@ -268,6 +310,9 @@ if(MUJOCO_BUILD_TESTS)

       CACHE BOOL "Build tests." FORCE

   )
@@ -312,7 +302,7 @@ index 44962272..656beeb8 100644 
   # Avoid linking errors on Windows by dynamically linking to the C runtime.

   set(gtest_force_shared_crt

       ON

@@ -276,22 +322,20 @@ if(MUJOCO_BUILD_TESTS)

@@ -276,22 +321,20 @@ if(MUJOCO_BUILD_TESTS)

 

   findorfetch(

     USE_SYSTEM_PACKAGE
@@ -341,7 +331,7 @@ index 44962272..656beeb8 100644 
   set(BENCHMARK_EXTRA_FETCH_ARGS "")

   if(WIN32 AND NOT MSVC)

     set(BENCHMARK_EXTRA_FETCH_ARGS

@@ -310,15 +354,11 @@ if(MUJOCO_BUILD_TESTS)

@@ -310,15 +353,11 @@ if(MUJOCO_BUILD_TESTS)

 

   findorfetch(

     USE_SYSTEM_PACKAGE
@@ -358,7 +348,7 @@ index 44962272..656beeb8 100644 
     TARGETS

     benchmark::benchmark

     benchmark::benchmark_main

@@ -328,15 +368,18 @@ if(MUJOCO_BUILD_TESTS)

@@ -328,15 +367,18 @@ if(MUJOCO_BUILD_TESTS)

 endif()

 

 if(MUJOCO_TEST_PYTHON_UTIL)
@@ -382,7 +372,7 @@ index 44962272..656beeb8 100644 
     )

 

     FetchContent_GetProperties(Eigen3)

@@ -348,6 +391,19 @@ if(MUJOCO_TEST_PYTHON_UTIL)

@@ -348,6 +390,19 @@ if(MUJOCO_TEST_PYTHON_UTIL)

       set_target_properties(

         Eigen3::Eigen PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${eigen3_SOURCE_DIR}"

       )
@@ -479,19 +469,10 @@ index 5141406c..75ff7884 100644 
   glfw

   EXCLUDE_FROM_ALL

diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt

index 122760a9..ddd90819 100644

index 0f92803d..da9dce4c 100644

--- a/test/CMakeLists.txt

+++ b/test/CMakeLists.txt

@@ -30,7 +30,7 @@ macro(mujoco_test name)

   )

 

   add_executable(${name} ${name}.cc)

-  target_link_libraries(${name} gtest_main mujoco)

+  target_link_libraries(${name} GTest::gtest_main mujoco)

   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.

@@ -60,20 +60,20 @@ target_link_libraries(

@@ -81,8 +81,8 @@ target_link_libraries(

          absl::synchronization

          absl::flat_hash_map

          absl::flat_hash_set
@@ -502,18 +483,3 @@ index 122760a9..ddd90819 100644 
          mujoco::mujoco

 )

 target_include_directories(fixture PRIVATE ${mujoco_SOURCE_DIR}/include gmock)
 
 

 mujoco_test(fixture_test)

-target_link_libraries(fixture_test fixture gmock)

+target_link_libraries(fixture_test fixture GTest::gmock)

 

 mujoco_test(header_test)

-target_link_libraries(header_test fixture gmock)

+target_link_libraries(fixture_test fixture GTest::gmock)

 

 mujoco_test(pipeline_test)

-target_link_libraries(pipeline_test fixture gmock)

+target_link_libraries(fixture_test fixture GTest::gmock)

 

 add_subdirectory(benchmark)

 add_subdirectory(engine)

pkgs/by-name/mu/mujoco/package.nix

+16 −10
Original line number Diff line number Diff line 
{

  cereal_1_3_2,

  cmake,

  lib,

  stdenv,

  fetchFromGitHub,

  cmake,

  fetchFromGitLab,

  glfw,

  glm,

  lib,

  spdlog,

  stdenv,

  cereal_1_3_2,

  python3Packages,

}:



let
@@ -35,8 +36,8 @@ let 
    eigen3 = fetchFromGitLab {

      owner = "libeigen";

      repo = "eigen";

      rev = "d34b100c137ac931379ae5e1b888f16a9c8d6c72";

      hash = "sha256-GYjENtobSWCJqRw2GJbxAJDZSdyBNqWkobn2Vm5H53Q=";

      rev = "7f2377859377da6f22152015c28b12c04752af77";

      hash = "sha256-SmyvY/WlU9jryD9ZpSw73dQEc9jI4ySQPRnplg/BC4w=";

    };

    googletest = fetchFromGitHub {

      owner = "google";
@@ -131,7 +132,7 @@ let 
in

stdenv.mkDerivation rec {

  pname = "mujoco";

  version = "3.2.6";

  version = "3.2.7";



  # Bumping version? Make sure to look though the MuJoCo's commit

  # history for bumped dependency pins!
@@ -139,7 +140,7 @@ stdenv.mkDerivation rec { 
    owner = "google-deepmind";

    repo = "mujoco";

    tag = version;

    hash = "sha256-n1H9e+GMqHYsimypF7AiVzHC2dXkL+4FWDEHB5B2ZIE=";

    hash = "sha256-TAhgu3h7tCflIMscVS+jYuUfMmIYcCcI3JFxUlj8g9E=";

  };



  patches = [ ./mujoco-system-deps-dont-fetch.patch ];
@@ -177,9 +178,14 @@ stdenv.mkDerivation rec { 
    ln -s ${pin.marchingcubecpp} build/_deps/marchingcubecpp-src

  '';



  passthru.pin = {

  passthru = {

    pin = {

      inherit (pin) lodepng eigen3 abseil-cpp;

    };

    tests = {

      pythonMujoco = python3Packages.mujoco;

    };

  };



  meta = {

    description = "Multi-Joint dynamics with Contact. A general purpose physics simulator";

pkgs/development/python-modules/mujoco/default.nix

+1 −1
Original line number Diff line number Diff line
@@ -37,7 +37,7 @@ buildPythonPackage rec { 
  # in the project's CI.

  src = fetchPypi {

    inherit pname version;

    hash = "sha256-kl7+5cMvaAaILEARKs5KPtdLE7Kv8J7NddZnj6oLwk8=";

    hash = "sha256-a0ATRmtFV11J3T2HSNCZhfc0kAOu8yaHIW0rkCrHsTg=";

  };



  nativeBuildInputs = [ cmake ];

pkgs/development/python-modules/torchrl/default.nix

+2 −1
Original line number Diff line number Diff line
@@ -175,7 +175,8 @@ buildPythonPackage rec { 
      "test_gae_param_as_tensor"

    ]

    ++ lib.optionals (stdenv.hostPlatform.isLinux && stdenv.hostPlatform.isAarch64) [

      # Flaky (AssertionError)

      # Flaky

      # AssertionError: assert tensor([51.]) == ((5 * 11) + 2)

      "test_vecnorm_parallel_auto"

    ];