Unverified Commit b647155e authored by Samuel Ainsworth's avatar Samuel Ainsworth Committed by GitHub
Browse files

mujoco: init at 2.3.0 (#198145) 



* mujoco: init at 2.3.0

* mujoco: refactor `meta`

Co-authored-by: default avatarFlorian <florian.brandes@posteo.de>

Co-authored-by: default avatarFlorian <florian.brandes@posteo.de>
parent e5900ddf

pkgs/applications/science/robotics/mujoco/default.nix

0 → 100644
+122 −0
Original line number Diff line number Diff line 
{ cmake

, fetchFromGitHub

, fetchFromGitLab

, git

, lib

, libGL

, stdenv

, xorg

}:



let

  # See https://github.com/deepmind/mujoco/blob/573d331b69845c5d651b70f5d1b0f3a0d2a3a233/cmake/MujocoDependencies.cmake#L21-L59

  abseil-cpp = fetchFromGitHub {

    owner = "abseil";

    repo = "abseil-cpp";

    rev = "8c0b94e793a66495e0b1f34a5eb26bd7dc672db0";

    hash = "sha256-Od1FZOOWEXVQsnZBwGjDIExi6LdYtomyL0STR44SsG8=";

  };

  benchmark = fetchFromGitHub {

    owner = "google";

    repo = "benchmark";

    rev = "d845b7b3a27d54ad96280a29d61fa8988d4fddcf";

    hash = "sha256-XTnTM1k6xMGXUws/fKdJUbpCPcc4U0IelL6BPEEnpEQ=";

  };

  ccd = fetchFromGitHub {

    owner = "danfis";

    repo = "libccd";

    rev = "7931e764a19ef6b21b443376c699bbc9c6d4fba8";

    hash = "sha256-TIZkmqQXa0+bSWpqffIgaBela0/INNsX9LPM026x1Wk=";

  };

  eigen3 = fetchFromGitLab {

    owner = "libeigen";

    repo = "eigen";

    rev = "3bb6a48d8c171cf20b5f8e48bfb4e424fbd4f79e";

    hash = "sha256-k71DoEsx8JpC9AlQ0cCRI0fWMIWFBFL/Yscx+2iBtNM=";

  };

  googletest = fetchFromGitHub {

    owner = "google";

    repo = "googletest";

    rev = "58d77fa8070e8cec2dc1ed015d66b454c8d78850";

    hash = "sha256-W+OxRTVtemt2esw4P7IyGWXOonUN5ZuscjvzqkYvZbM=";

  };

  lodepng = fetchFromGitHub {

    owner = "lvandeve";

    repo = "lodepng";

    rev = "b4ed2cd7ecf61d29076169b49199371456d4f90b";

    hash = "sha256-5cCkdj/izP4e99BKfs/Mnwu9aatYXjlyxzzYiMD/y1M=";

  };

  qhull = fetchFromGitHub {

    owner = "qhull";

    repo = "qhull";

    rev = "3df027b91202cf179f3fba3c46eebe65bbac3790";

    hash = "sha256-aHO5n9Y35C7/zb3surfMyjyMjo109DoZnkozhiAKpYQ=";

  };

  tinyobjloader = fetchFromGitHub {

    owner = "tinyobjloader";

    repo = "tinyobjloader";

    rev = "1421a10d6ed9742f5b2c1766d22faa6cfbc56248";

    hash = "sha256-9z2Ne/WPCiXkQpT8Cun/pSGUwgClYH+kQ6Dx1JvW6w0=";

  };

  tinyxml2 = fetchFromGitHub {

    owner = "leethomason";

    repo = "tinyxml2";

    rev = "1dee28e51f9175a31955b9791c74c430fe13dc82";

    hash = "sha256-AQQOctXi7sWIH/VOeSUClX6hlm1raEQUOp+VoPjLM14=";

  };



  # See https://github.com/deepmind/mujoco/blob/573d331b69845c5d651b70f5d1b0f3a0d2a3a233/simulate/cmake/SimulateDependencies.cmake#L32-L35

  glfw = fetchFromGitHub {

    owner = "glfw";

    repo = "glfw";

    rev = "7482de6071d21db77a7236155da44c172a7f6c9e";

    hash = "sha256-4+H0IXjAwbL5mAWfsIVhW0BSJhcWjkQx4j2TrzZ3aIo=";

  };

in

stdenv.mkDerivation rec {

  pname = "mujoco";

  version = "2.3.0";



  src = fetchFromGitHub {

    owner = "deepmind";

    repo = pname;

    rev = version;

    hash = "sha256-FxMaXl7yfUAyY6LE1sxaw226dBtp1DOCWNnROp0WX2I=";

  };



  patches = [ ./dependencies.patch ];



  nativeBuildInputs = [ cmake git ];



  buildInputs = [

    libGL

    xorg.libX11

    xorg.libXcursor

    xorg.libXext

    xorg.libXi

    xorg.libXinerama

    xorg.libXrandr

  ];



  # Move things into place so that cmake doesn't try downloading dependencies.

  preConfigure = ''

    mkdir -p build/_deps

    ln -s ${abseil-cpp} build/_deps/abseil-cpp-src

    ln -s ${benchmark} build/_deps/benchmark-src

    ln -s ${ccd} build/_deps/ccd-src

    ln -s ${eigen3} build/_deps/eigen3-src

    ln -s ${glfw} build/_deps/glfw-src

    ln -s ${googletest} build/_deps/googletest-src

    ln -s ${lodepng} build/_deps/lodepng-src

    ln -s ${qhull} build/_deps/qhull-src

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

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

  '';



  meta = with lib; {

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

    homepage = "https://mujoco.org/";

    license = licenses.asl20;

    maintainers = with maintainers; [ samuela ];

  };

}

pkgs/applications/science/robotics/mujoco/dependencies.patch

0 → 100644
+114 −0
Original line number Diff line number Diff line 
diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake

index 99e4a7a..cf9a901 100644

--- a/cmake/MujocoDependencies.cmake

+++ b/cmake/MujocoDependencies.cmake

@@ -82,8 +82,6 @@ set(BUILD_SHARED_LIBS

 if(NOT TARGET lodepng)

   FetchContent_Declare(

     lodepng

-    GIT_REPOSITORY https://github.com/lvandeve/lodepng.git

-    GIT_TAG ${MUJOCO_DEP_VERSION_lodepng}

   )

 

   FetchContent_GetProperties(lodepng)

@@ -111,10 +109,6 @@ findorfetch(

   qhull

   LIBRARY_NAME

   qhull

-  GIT_REPO

-  https://github.com/qhull/qhull.git

-  GIT_TAG

-  ${MUJOCO_DEP_VERSION_qhull}

   TARGETS

   qhull

   # TODO(fraromano) Remove when https://github.com/qhull/qhull/pull/112 is merged.

@@ -146,10 +140,6 @@ findorfetch(

   tinyxml2

   LIBRARY_NAME

   tinyxml2

-  GIT_REPO

-  https://github.com/leethomason/tinyxml2.git

-  GIT_TAG

-  ${MUJOCO_DEP_VERSION_tinyxml2}

   TARGETS

   tinyxml2

   EXCLUDE_FROM_ALL

@@ -164,10 +154,6 @@ findorfetch(

   tinyobjloader

   LIBRARY_NAME

   tinyobjloader

-  GIT_REPO

-  https://github.com/tinyobjloader/tinyobjloader.git

-  GIT_TAG

-  ${MUJOCO_DEP_VERSION_tinyobjloader}

   TARGETS

   tinyobjloader

   EXCLUDE_FROM_ALL

@@ -182,10 +168,6 @@ findorfetch(

   ccd

   LIBRARY_NAME

   ccd

-  GIT_REPO

-  https://github.com/danfis/libccd.git

-  GIT_TAG

-  ${MUJOCO_DEP_VERSION_ccd}

   TARGETS

   ccd

   EXCLUDE_FROM_ALL

@@ -222,10 +204,6 @@ if(MUJOCO_BUILD_TESTS)

     absl

     LIBRARY_NAME

     abseil-cpp

-    GIT_REPO

-    https://github.com/abseil/abseil-cpp.git

-    GIT_TAG

-    ${MUJOCO_DEP_VERSION_abseil}

     TARGETS

     absl::core_headers

     EXCLUDE_FROM_ALL

@@ -249,10 +227,6 @@ if(MUJOCO_BUILD_TESTS)

     GTest

     LIBRARY_NAME

     googletest

-    GIT_REPO

-    https://github.com/google/googletest.git

-    GIT_TAG

-    ${MUJOCO_DEP_VERSION_gtest}

     TARGETS

     gtest

     gmock

@@ -283,10 +257,6 @@ if(MUJOCO_BUILD_TESTS)

     benchmark

     LIBRARY_NAME

     benchmark

-    GIT_REPO

-    https://github.com/google/benchmark.git

-    GIT_TAG

-    ${MUJOCO_DEP_VERSION_benchmark}

     TARGETS

     benchmark::benchmark

     benchmark::benchmark_main

@@ -303,8 +273,6 @@ if(MUJOCO_TEST_PYTHON_UTIL)

 

     FetchContent_Declare(

       Eigen3

-      GIT_REPOSITORY https://gitlab.com/libeigen/eigen.git

-      GIT_TAG ${MUJOCO_DEP_VERSION_Eigen3}

     )

 

     FetchContent_GetProperties(Eigen3)

diff --git a/simulate/cmake/SimulateDependencies.cmake b/simulate/cmake/SimulateDependencies.cmake

index 6616d6f..5d5a889 100644

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

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

@@ -81,10 +81,6 @@ findorfetch(

   glfw

   LIBRARY_NAME

   glfw

-  GIT_REPO

-  https://github.com/glfw/glfw.git

-  GIT_TAG

-  ${MUJOCO_DEP_VERSION_glfw}

   TARGETS

   glfw

   EXCLUDE_FROM_ALL

pkgs/top-level/all-packages.nix

+2 −0
Original line number Diff line number Diff line
@@ -21229,6 +21229,8 @@ with pkgs; 














  mueval = callPackage ../development/tools/haskell/mueval { };



























  mujoco = callPackage ../applications/science/robotics/mujoco { };



























  muparser = callPackage ../development/libraries/muparser {















    inherit (darwin.stubs) setfile;















  };