Build Python bindings in build.yml.

We currently skip building the Python bindings on Windows since MSVC takes an hour+ on them. Internally, we use Clang for our Windows build, so are not affected by this issue.

PiperOrigin-RevId: 450914163
Change-Id: I329aab28f3a2aeb1896242a8712f89d8ecff2f92

python/make_sdist.sh

@@ -21,7 +21,7 @@ fi
 # Figure out the path to this script (https://stackoverflow.com/a/246128).
 package_dir="$(cd -- "$(dirname "${BASH_SOURCE[0]}")" >/dev/null 2>&1 && pwd)"
 
-if [[ "$(uname)" == CYGWIN* ]]; then
+if [[ "$(uname)" == CYGWIN* || "$(uname)" == MINGW* ]]; then
   package_dir="$(cygpath -m ${package_dir})"
   readonly tmp_dir="$(TMPDIR="${LOCALAPPDATA//\\/$'/'}/Temp" mktemp -d)"
 else
@@ -35,7 +35,7 @@ cp -r "${package_dir}"/* .
 
 # Generate header files.
 old_pythonpath="${PYTHONPATH}"
-if [[ "$(uname)" == CYGWIN* ]]; then
+if [[ "$(uname)" == CYGWIN* || "$(uname)" == MINGW* ]]; then
   export PYTHONPATH="${old_pythonpath};${package_dir}/.."
 else
   export PYTHONPATH="${old_pythonpath}:${package_dir}/.."

python/mujoco/enums.cc

@@ -28,8 +28,7 @@ namespace mujoco::python {
 namespace {
 namespace py = ::pybind11;
 
-MUJOCO_ALWAYS_INLINE
-void ZeroDenominatorCheck(double b) {
+inline void ZeroDenominatorCheck(double b) {
   if (b == 0) {
     PyErr_SetString(PyExc_ZeroDivisionError, "division by zero");
     throw py::error_already_set();
@@ -37,14 +36,12 @@ void ZeroDenominatorCheck(double b) {
 }
 
 template <typename T>
-MUJOCO_ALWAYS_INLINE
-T FloorDiv(T a, T b) {
+inline T FloorDiv(T a, T b) {
   ZeroDenominatorCheck(b);
   return std::floor(static_cast<double>(a) / static_cast<double>(b));
 }
 
 template <typename Trait>
-MUJOCO_ALWAYS_INLINE
 void DefEnum(py::module_& m) {
   py::enum_<typename Trait::type> e(m, Trait::name);
   for (const auto& [name, enumerator] : Trait::values) {
@@ -137,7 +134,6 @@ void DefEnum(py::module_& m) {
 }
 
 template <typename Tuple>
-MUJOCO_ALWAYS_INLINE
 void DefAllEnums(py::module_& m, Tuple&& tuple) {
   using TupleNoRef = std::remove_reference_t<Tuple>;
   if constexpr (std::tuple_size_v<TupleNoRef> != 0) {

python/mujoco/util/crossplatform.h

@@ -55,11 +55,6 @@
     _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

python/setup.py

@@ -196,9 +196,8 @@ class BuildCMakeExtension(build_ext.build_ext):
         f'-DCMAKE_MODULE_PATH:PATH={cmake_module_path}',
         f'-DCMAKE_BUILD_TYPE:STRING={build_cfg}',
         f'-DCMAKE_LIBRARY_OUTPUT_DIRECTORY:PATH={self.build_temp}',
-        f'-DCMAKE_INTERPROCEDURAL_OPTIMIZATION=:BOOL{"OFF" if self.debug else "ON"}',
+        f'-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL={"OFF" if self.debug else "ON"}',
         '-DCMAKE_Fortran_COMPILER:STRING=',
-        '-DCMAKE_VERBOSE_MAKEFILE:BOOL=ON',
         '-DBUILD_TESTING:BOOL=OFF',
     ]