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