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{
absl-py,
buildPythonPackage,
cmake,
etils,
fetchPypi,
glfw,
lib,
mujoco,
numpy,
perl,
pybind11,
pyopengl,
python,
setuptools,
stdenv,
}:
buildPythonPackage rec {
pname = "mujoco";
version = "3.1.5";
pyproject = true;
# We do not fetch from the repository because the PyPi tarball is
# impurely build via
# <https://github.com/google-deepmind/mujoco/blob/main/python/make_sdist.sh>
# in the project's CI.
src = fetchPypi {
inherit pname version;
hash = "sha256-kJm6YAE0HMnji3uUuO96ZzRsdjj6PpT1IHQ6NXiR8pY=";
};
nativeBuildInputs = [
cmake
setuptools
];
dontUseCmakeConfigure = true;
buildInputs = [
mujoco
pybind11
];
propagatedBuildInputs = [
absl-py
etils
glfw
numpy
pyopengl
];
pythonImportsCheck = [ "${pname}" ];
env.MUJOCO_PATH = "${mujoco}";
env.MUJOCO_PLUGIN_PATH = "${mujoco}/lib";
env.MUJOCO_CMAKE_ARGS = lib.concatStringsSep " " [
"-DMUJOCO_SIMULATE_USE_SYSTEM_GLFW=ON"
"-DMUJOCO_PYTHON_USE_SYSTEM_PYBIND11=ON"
];
preConfigure =
# Use non-system eigen3, lodepng, abseil: Remove mirror info and prefill
# dependency directory. $build from setuptools.
(
let
# E.g. 3.11.2 -> "311"
pythonVersionMajorMinor =
with lib.versions;
"${major python.pythonVersion}${minor python.pythonVersion}";
# E.g. "linux-aarch64"
platform = with stdenv.hostPlatform.parsed; "${kernel.name}-${cpu.name}";
in
''
${perl}/bin/perl -0777 -i -pe "s/GIT_REPO\n.*\n.*GIT_TAG\n.*\n//gm" mujoco/CMakeLists.txt
${perl}/bin/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}/"
mkdir -p $build/_deps
ln -s ${mujoco.pin.lodepng} $build/_deps/lodepng-src
ln -s ${mujoco.pin.eigen3} $build/_deps/eigen-src
ln -s ${mujoco.pin.abseil-cpp} $build/_deps/abseil-cpp-src
''
);
meta = with lib; {
description = "Python bindings for MuJoCo: a general purpose physics simulator.";
homepage = "https://mujoco.org/";
changelog = "https://github.com/google-deepmind/mujoco/releases/tag/${version}";
license = licenses.asl20;
maintainers = with maintainers; [ tmplt ];
};
}
|
