Unverified Commit 79effe5f authored by Gaétan Lepage's avatar Gaétan Lepage Committed by GitHub
Browse files

mujoco: 3.5.0 -> 3.6.0 (#499034)

parents 5d472cef 037721f4

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

+18 −38
Original line number Diff line number Diff line 
diff --git a/CMakeLists.txt b/CMakeLists.txt

index 1780f874..3ac02be6 100644

index 6c1747f3..ab69cf5e 100644

--- a/CMakeLists.txt

+++ b/CMakeLists.txt

@@ -140,7 +140,7 @@ target_link_libraries(

@@ -158,7 +158,7 @@ target_link_libraries(

           lodepng

           qhullstatic_r

           tinyobjloader
@@ -12,10 +12,10 @@ index 1780f874..3ac02be6 100644 
 

 set_target_properties(

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

index 5cdc33cb..a4c9f61f 100644

index d2404bc1..5c7ddaf6 100644

--- a/cmake/MujocoDependencies.cmake

+++ b/cmake/MujocoDependencies.cmake

@@ -93,8 +93,6 @@ set(BUILD_SHARED_LIBS

@@ -87,8 +87,6 @@ set(BUILD_SHARED_LIBS

 if(NOT TARGET lodepng)

   FetchContent_Declare(

     lodepng
@@ -24,7 +24,7 @@ index 5cdc33cb..a4c9f61f 100644 
   )

 

   FetchContent_GetProperties(lodepng)

@@ -113,8 +111,6 @@ endif()

@@ -111,8 +109,6 @@ endif()

 if(NOT TARGET marchingcubecpp)

   FetchContent_Declare(

     marchingcubecpp
@@ -33,7 +33,7 @@ index 5cdc33cb..a4c9f61f 100644 
   )

 

   FetchContent_GetProperties(marchingcubecpp)

@@ -130,13 +126,9 @@ findorfetch(

@@ -132,13 +128,9 @@ findorfetch(

   USE_SYSTEM_PACKAGE

   OFF

   PACKAGE_NAME
@@ -48,7 +48,7 @@ index 5cdc33cb..a4c9f61f 100644 
   TARGETS

   qhull

   EXCLUDE_FROM_ALL

@@ -157,12 +149,8 @@ findorfetch(

@@ -160,12 +152,8 @@ findorfetch(

   tinyxml2

   LIBRARY_NAME

   tinyxml2
@@ -62,7 +62,7 @@ index 5cdc33cb..a4c9f61f 100644 
   EXCLUDE_FROM_ALL

 )

 target_compile_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})

@@ -175,10 +163,6 @@ findorfetch(

@@ -183,10 +171,6 @@ findorfetch(

   tinyobjloader

   LIBRARY_NAME

   tinyobjloader
@@ -73,16 +73,7 @@ index 5cdc33cb..a4c9f61f 100644 
   TARGETS

   tinyobjloader

   EXCLUDE_FROM_ALL

@@ -187,8 +171,6 @@ findorfetch(

 if(NOT TARGET trianglemeshdistance)

   FetchContent_Declare(

     trianglemeshdistance

-    GIT_REPOSITORY https://github.com/InteractiveComputerGraphics/TriangleMeshDistance.git

-    GIT_TAG ${MUJOCO_DEP_VERSION_TriangleMeshDistance}

   )

 

   FetchContent_GetProperties(trianglemeshdistance)

@@ -207,10 +189,6 @@ findorfetch(

@@ -216,10 +200,6 @@ findorfetch(

   ccd

   LIBRARY_NAME

   ccd
@@ -93,7 +84,7 @@ index 5cdc33cb..a4c9f61f 100644 
   TARGETS

   ccd

   EXCLUDE_FROM_ALL

@@ -247,10 +225,6 @@ if(MUJOCO_BUILD_TESTS)

@@ -261,10 +241,6 @@ if(MUJOCO_BUILD_TESTS OR MUJOCO_BUILD_STUDIO OR MUJOCO_USE_FILAMENT)

     absl

     LIBRARY_NAME

     abseil-cpp
@@ -104,7 +95,7 @@ index 5cdc33cb..a4c9f61f 100644 
     TARGETS

     absl::core_headers

     EXCLUDE_FROM_ALL

@@ -274,14 +248,9 @@ if(MUJOCO_BUILD_TESTS)

@@ -291,14 +267,9 @@ if(MUJOCO_BUILD_TESTS)

     GTest

     LIBRARY_NAME

     googletest
@@ -121,7 +112,7 @@ index 5cdc33cb..a4c9f61f 100644 
     EXCLUDE_FROM_ALL

   )

 

@@ -308,10 +277,6 @@ if(MUJOCO_BUILD_TESTS)

@@ -323,10 +294,6 @@ if(MUJOCO_BUILD_TESTS)

     benchmark

     LIBRARY_NAME

     benchmark
@@ -132,7 +123,7 @@ index 5cdc33cb..a4c9f61f 100644 
     TARGETS

     benchmark::benchmark

     benchmark::benchmark_main

@@ -322,14 +287,12 @@ endif()

@@ -337,14 +304,12 @@ endif()

 

 if(MUJOCO_TEST_PYTHON_UTIL)

   add_compile_definitions(EIGEN_MPL2_ONLY)
@@ -149,7 +140,7 @@ index 5cdc33cb..a4c9f61f 100644 
 

     FetchContent_GetProperties(Eigen3)

diff --git a/python/mujoco/util/CMakeLists.txt b/python/mujoco/util/CMakeLists.txt

index 666a3725..d89bb499 100644

index 666a3725..8f4ce043 100644

--- a/python/mujoco/util/CMakeLists.txt

+++ b/python/mujoco/util/CMakeLists.txt

@@ -63,8 +63,8 @@ if(BUILD_TESTING)
@@ -185,19 +176,8 @@ index 666a3725..d89bb499 100644 
   )

   gtest_add_tests(TARGET func_wrap_test SOURCES func_wrap_test.cc)

 

@@ -90,8 +90,8 @@ if(BUILD_TESTING)

   target_link_libraries(

     tuple_tools_test

     func_wrap

-    gmock

-    gtest_main

+    GTest::gmock

+    GTest::gtest_main

   )

   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 5141406c..75ff7884 100644

index 7885f5f9..97b8b783 100644

--- a/simulate/cmake/SimulateDependencies.cmake

+++ b/simulate/cmake/SimulateDependencies.cmake

@@ -81,10 +81,6 @@ findorfetch(
@@ -212,17 +192,17 @@ index 5141406c..75ff7884 100644 
   glfw

   EXCLUDE_FROM_ALL

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

index a286a1c6..982f2e68 100644

index f459a6ca..6830509d 100644

--- a/test/CMakeLists.txt

+++ b/test/CMakeLists.txt

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

@@ -82,8 +82,8 @@ target_link_libraries(

          absl::synchronization

          absl::flat_hash_map

          absl::flat_hash_set

-         gtest

-         gmock

+         GTest::gtest

+         GTest::gmock

+         GTest::gtest_main

          mujoco::mujoco

 )

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

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

+4 −14
Original line number Diff line number Diff line
@@ -25,8 +25,8 @@ let 
    benchmark = fetchFromGitHub {

      owner = "google";

      repo = "benchmark";

      rev = "5f7d66929fb66869d96dfcbacf0d8a586b33766d";

      hash = "sha256-G9jMWq8BxKvRGP4D2/tcogdLwmek4XGYESqepnZIlCw=";

      rev = "5c55f5d4f45a1b09c5d98aa63a671993ebd42c69";

      hash = "sha256-CChXn58cqam3d6Q61ZJMr5NFq1Ezc5uywA7FSPhk4GI=";

    };

    ccd = fetchFromGitHub {

      owner = "danfis";
@@ -76,18 +76,12 @@ let 
      rev = "f03a1b3ec29b1d7d865691ca8aea4f1eb2c2873d";

      hash = "sha256-90ei0lpJA8XuVGI0rGb3md0Qtq8/bdkU7dUCHpp88Bw=";

    };

    trianglemeshdistance = fetchFromGitHub {

      owner = "InteractiveComputerGraphics";

      repo = "TriangleMeshDistance";

      rev = "2cb643de1436e1ba8e2be49b07ec5491ac604457";

      hash = "sha256-qG/8QKpOnUpUQJ1nLj+DFoLnUr+9oYkJPqUhwEQD2pc=";

    };

  };



in

stdenv.mkDerivation (finalAttrs: {

  pname = "mujoco";

  version = "3.5.0";

  version = "3.6.0";



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

  # history for bumped dependency pins!
@@ -95,7 +89,7 @@ stdenv.mkDerivation (finalAttrs: { 
    owner = "google-deepmind";

    repo = "mujoco";

    tag = finalAttrs.version;

    hash = "sha256-5i+QQIwu8olwsMaYvO8b1vLkOkA4jZVR0xcFMuieF5w=";

    hash = "sha256-Gxr8AH9grTjrMTHHOVseLuTC3rNuQEZRWhSvR4HgIc4=";

  };



  patches = [ ./mujoco-system-deps-dont-fetch.patch ];
@@ -146,10 +140,6 @@ stdenv.mkDerivation (finalAttrs: { 
  + ''

    ln -s ${pin.tinyobjloader} build/_deps/tinyobjloader-src

    ln -s ${pin.tinyxml2} build/_deps/tinyxml2-src

  ''

  # Mujoco's cmake apply a patch on the trianglemeshdistance source code. Requires write permission.

  + ''

    cp -r ${pin.trianglemeshdistance} build/_deps/trianglemeshdistance-src

    ln -s ${pin.marchingcubecpp} build/_deps/marchingcubecpp-src

  '';

pkgs/development/python-modules/dm-control/default.nix

+2 −2
Original line number Diff line number Diff line
@@ -29,14 +29,14 @@ 


buildPythonPackage (finalAttrs: {

  pname = "dm-control";

  version = "1.0.37";

  version = "1.0.38";

  pyproject = true;



  src = fetchFromGitHub {

    owner = "google-deepmind";

    repo = "dm_control";

    tag = finalAttrs.version;

    hash = "sha256-IRUAHadZMN9XCSoZj0m48lF/s/5s76Jlrdwe3BBmRNg=";

    hash = "sha256-3Bo4XOR3iEf9H0RgMq/62CyKHua9nPU8gpYgze1GMno=";

  };



  build-system = [

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

+6 −6
Original line number Diff line number Diff line
@@ -26,7 +26,7 @@ 
  python,

}:



buildPythonPackage rec {

buildPythonPackage (finalAttrs: {

  pname = "mujoco";

  inherit (mujoco) version;
@@ -37,8 +37,8 @@ buildPythonPackage rec { 
  # <https://github.com/google-deepmind/mujoco/blob/main/python/make_sdist.sh>

  # in the project's CI.

  src = fetchPypi {

    inherit pname version;

    hash = "sha256-XIWm/HVgq1+kU081/0WeEtw2CWgfMH5FfbtJtiF/TXM=";

    inherit (finalAttrs) pname version;

    hash = "sha256-FcifQj4zvOCGCtcGF2O3IyNCbWNI17Lkbr3MN7EeCQU=";

  };



  nativeBuildInputs = [ cmake ];
@@ -61,7 +61,7 @@ buildPythonPackage rec { 
    typing-extensions

  ];



  pythonImportsCheck = [ "${pname}" ];

  pythonImportsCheck = [ "mujoco" ];



  env.MUJOCO_PATH = "${mujoco}";

  env.MUJOCO_PLUGIN_PATH = "${mujoco}/lib";
@@ -87,7 +87,7 @@ buildPythonPackage rec { 
        ${lib.getExe perl} -0777 -i -pe "s/GIT_REPO\n.*\n.*GIT_TAG\n.*\n//gm" mujoco/CMakeLists.txt

        ${lib.getExe perl} -0777 -i -pe "s/(FetchContent_Declare\(\n.*lodepng\n.*)(GIT_REPO.*\n.*GIT_TAG.*\n)(.*\))/\1\3/gm" mujoco/simulate/CMakeLists.txt



        build="/build/${pname}-${version}/build/temp.${platform}-cpython-${pythonVersionMajorMinor}/"

        build="/build/${finalAttrs.pname}-${finalAttrs.version}/build/temp.${platform}-cpython-${pythonVersionMajorMinor}/"

        mkdir -p $build/_deps

        ln -s ${mujoco.pin.lodepng} $build/_deps/lodepng-src

        ln -s ${mujoco.pin.eigen3} $build/_deps/eigen-src
@@ -103,4 +103,4 @@ buildPythonPackage rec { 
      tmplt

    ];

  };

}
 
})