Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb

python/mujoco/util/CMakeLists.txt

@@ -23,11 +23,6 @@ set(CMAKE_CXX_EXTENSIONS OFF)
 # INTERPROCEDURAL_OPTIMIZATION is enforced when enabled.
 set(CMAKE_POLICY_DEFAULT_CMP0069 NEW)
 
-if(APPLE)
-  add_compile_options(-Werror=partial-availability -Werror=unguarded-availability)
-  add_link_options(-Wl,-no_weak_imports)
-endif()
-
 add_library(crossplatform INTERFACE)
 target_sources(crossplatform INTERFACE crossplatform.h)
 set_target_properties(crossplatform PROPERTIES PUBLIC_HEADER crossplatform.h)
@@ -62,7 +57,8 @@ target_link_libraries(
             func_traits
 )
 
-if(MUJOCO_TEST_PYTHON_UTIL)
+if(BUILD_TESTING)
+  enable_testing()
   add_executable(array_traits_test array_traits_test.cc)
   target_link_libraries(
     array_traits_test

python/mujoco/util/crossplatform.h

@@ -48,4 +48,29 @@
 #define MUJOCO_ALWAYS_INLINE_LAMBDA_MUTABLE
 #endif
 
+#ifndef MUJOCO_DIAG_IGNORE_UNUSED_LAMBDA_CAPTURE
+#if defined(__clang__)
+#define MUJOCO_DIAG_IGNORE_UNUSED_LAMBDA_CAPTURE                    \
+    _Pragma("clang diagnostic push")                                \
+    _Pragma("clang diagnostic ignored \"-Wunused-lambda-capture\"")
+#define MUJOCO_DIAG_UNIGNORE_UNUSED_LAMBDA_CAPTURE \
+    _Pragma("clang diagnostic pop")
+#elif defined(__GNUC__)
+#define MUJOCO_DIAG_IGNORE_UNUSED_LAMBDA_CAPTURE                  \
+    _Pragma("GCC diagnostic push")                                \
+    _Pragma("GCC diagnostic ignored \"-Wunused-lambda-capture\"")
+#define MUJOCO_DIAG_UNIGNORE_UNUSED_LAMBDA_CAPTURE _Pragma("GCC diagnostic pop")
+#else
+#define MUJOCO_DIAG_IGNORE_UNUSED_LAMBDA_CAPTURE
+#define MUJOCO_DIAG_UNIGNORE_UNUSED_LAMBDA_CAPTURE
+#endif
+#endif
+
+// GCC ignores [[maybe_unused]] and emits a -Wattributes
+#if defined(__GNUC__) && !defined(__clang__)
+#define MUJOCO_MAYBE_UNUSED
+#else
+#define MUJOCO_MAYBE_UNUSED [[maybe_unused]]
+#endif
+
 #endif  // MUJOCO_PYTHON_UTIL_CROSSPLATFORM_H_