Initial open sourcing of MuJoCo.
PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
This commit is contained in:
Saran Tunyasuvunakool
committed by
Copybara-Service
Copybara-Service
parent
0e5d062302
commit
1913a02b40
@@ -40,32 +40,60 @@ set(CMAKE_VISIBILITY_INLINES_HIDDEN ON)
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separate_arguments(CMDLINE_LINK_OPTIONS UNIX_COMMAND ${CMAKE_SHARED_LINKER_FLAGS})
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add_link_options(${CMDLINE_LINK_OPTIONS})
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if(MSVC)
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add_compile_options(/Gy /Gw /Oi)
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elseif(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-fdata-sections -ffunction-sections)
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endif()
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include(MujocoLinkOptions)
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get_mujoco_extra_link_options(EXTRA_LINK_OPTIONS)
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add_link_options(${EXTRA_LINK_OPTIONS})
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if(APPLE)
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add_compile_options(-Werror=partial-availability -Werror=unguarded-availability)
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add_link_options(-Wl,-no_weak_imports)
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include(MujocoMacOS)
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enforce_mujoco_macosx_min_version()
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if(WIN32)
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add_compile_definitions(_CRT_SECURE_NO_WARNINGS)
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endif()
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include(MujocoHarden)
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add_compile_options("${MUJOCO_HARDEN_COMPILE_OPTIONS}")
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add_link_options("${MUJOCO_HARDEN_LINK_OPTIONS}")
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find_package(Python3 COMPONENTS Interpreter Development)
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include(FindOrFetch)
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# ==================== MUJOCO LIBRARY ==========================================
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if(NOT TARGET mujoco)
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find_library(MUJOCO_LIBRARY mujoco mujoco.2.1.5 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED)
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find_path(MUJOCO_INCLUDE mujoco.h HINTS ${MUJOCO_INCLUDE_DIR} REQUIRED)
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message("MuJoCo is at ${MUJOCO_LIBRARY}")
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message("MuJoCo headers are at ${MUJOCO_INCLUDE}")
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add_library(mujoco SHARED IMPORTED)
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if(APPLE)
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# On macOS, check if we are using mujoco.framework first.
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# Framework headers are searched differently from normal headers.
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# We need to use -F instead of the usual target_include_directories.
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find_path(MUJOCO_FRAMEWORK mujoco.Framework HINTS ${MUJOCO_FRAMEWORK_DIR})
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if(MUJOCO_FRAMEWORK)
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message("MuJoCo framework is at ${MUJOCO_FRAMEWORK}/mujoco.framework")
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set(MUJOCO_LIBRARY ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.2.2.0.dylib)
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target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK})
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endif()
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endif()
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if(NOT MUJOCO_FRAMEWORK)
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find_library(MUJOCO_LIBRARY mujoco mujoco.2.2.0 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED)
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find_path(MUJOCO_INCLUDE mujoco/mujoco.h HINTS ${MUJOCO_INCLUDE_DIR} REQUIRED)
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message("MuJoCo is at ${MUJOCO_LIBRARY}")
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message("MuJoCo headers are at ${MUJOCO_INCLUDE}")
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target_include_directories(mujoco INTERFACE "${MUJOCO_INCLUDE}")
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endif()
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if(WIN32)
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set_target_properties(mujoco PROPERTIES IMPORTED_IMPLIB "${MUJOCO_LIBRARY}")
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else()
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set_target_properties(mujoco PROPERTIES IMPORTED_LOCATION "${MUJOCO_LIBRARY}")
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endif()
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target_include_directories(mujoco INTERFACE "${MUJOCO_INCLUDE}")
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if(APPLE)
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execute_process(
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COMMAND otool -XD ${MUJOCO_LIBRARY}
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@@ -88,18 +116,7 @@ if(NOT TARGET mujoco)
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endif()
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# ==================== ABSEIL ==================================================
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if(APPLE)
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set(ABSL_EXTRA_FETCH_ARGS
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PATCH_COMMAND
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"sed"
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"-i"
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" "
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"s/-march=armv8-a+crypto/-mcpu=apple-m1+crypto/g"
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"${CMAKE_BINARY_DIR}/_deps/abseil-cpp-src/absl/copts/GENERATED_AbseilCopts.cmake"
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)
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else()
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set(ABSL_EXTRA_FETCH_ARGS "")
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endif()
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set(MUJOCO_PYTHON_ABSL_TARGETS absl::core_headers absl::flat_hash_map absl::span)
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findorfetch(
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USE_SYSTEM_PACKAGE
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OFF
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@@ -110,14 +127,26 @@ findorfetch(
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GIT_REPO
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https://github.com/abseil/abseil-cpp
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GIT_TAG
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215105818dfde3174fe799600bb0f3cae233d0bf # 20211102.0
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78f9680225b9792c26dfdd99d0bd26c96de53dd4 # # Fixes universal builds for macOS
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TARGETS
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absl::core_headers
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absl::flat_hash_map
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absl::span
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${ABSL_EXTRA_FETCH_ARGS}
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${MUJOCO_PYTHON_ABSL_TARGETS}
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EXCLUDE_FROM_ALL
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)
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foreach(absl_target IN ITEMS ${MUJOCO_PYTHON_ABSL_TARGETS})
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get_target_property(absl_target_aliased ${absl_target} ALIASED_TARGET)
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if(absl_target_aliased)
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set(absl_target ${absl_target_aliased})
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endif()
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get_target_property(absl_target_type ${absl_target} TYPE)
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if(NOT
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${absl_target_type}
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STREQUAL
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"INTERFACE_LIBRARY"
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)
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target_compile_options(${absl_target} PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
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target_link_options(${absl_target} PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
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endif()
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endforeach()
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# ==================== EIGEN ===================================================
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add_compile_definitions(EIGEN_MPL2_ONLY)
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@@ -138,26 +167,21 @@ findorfetch(
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)
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# ==================== PYBIND11 ================================================
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if(MUJOCO_PYBIND11_DIR)
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FetchContent_Declare(pybind11 SOURCE_DIR ${MUJOCO_PYBIND11_DIR} EXCLUDE_FROM_ALL)
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FetchContent_MakeAvailable(pybind11)
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else()
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findorfetch(
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USE_SYSTEM_PACKAGE
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OFF
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PACKAGE_NAME
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pybind11
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LIBRARY_NAME
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pybind11
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GIT_REPO
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https://github.com/pybind/pybind11
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GIT_TAG
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a8f1a5567608f346bdba293b3d062a288ee16cd4
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TARGETS
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pybind11::pybind11_headers
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EXCLUDE_FROM_ALL
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)
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endif()
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findorfetch(
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USE_SYSTEM_PACKAGE
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OFF
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PACKAGE_NAME
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pybind11
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LIBRARY_NAME
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pybind11
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GIT_REPO
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https://github.com/pybind/pybind11
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GIT_TAG
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a8f1a5567608f346bdba293b3d062a288ee16cd4
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TARGETS
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pybind11::pybind11_headers
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EXCLUDE_FROM_ALL
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)
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# ==================== MUJOCO PYTHON BINDINGS ==================================
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@@ -222,6 +246,7 @@ target_link_libraries(
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structs_header
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INTERFACE absl::flat_hash_map
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absl::span
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crossplatform
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mujoco
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raw
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)
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@@ -246,6 +271,19 @@ get_avx_compile_options(AVX_COMPILE_OPTIONS)
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macro(mujoco_pybind11_module name)
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pybind11_add_module(${name} ${ARGN})
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target_compile_options(${name} PRIVATE ${AVX_COMPILE_OPTIONS})
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if(NOT MSVC)
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target_compile_options(${name} PRIVATE -Wall -Werror)
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if(CMAKE_C_COMPILER_ID STREQUAL GNU)
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target_compile_options(
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${name}
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PRIVATE -Wno-int-in-bool-context
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-Wno-maybe-uninitialized
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-Wno-sign-compare
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-Wno-stringop-overflow
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-Wno-stringop-truncation
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)
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endif()
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endif()
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set_target_properties(${name} PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
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if(APPLE)
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add_custom_command(
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@@ -323,6 +361,7 @@ mujoco_pybind11_module(
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target_link_libraries(
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_structs
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PRIVATE absl::flat_hash_map
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crossplatform
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mujoco
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raw
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errors_header
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