Explain how to build Python and C/C++ sources from the same codebase.

The previous instructions use a pre-built binary from MuJoCo and do not cover
the use-case of building C/C++ and Python bindings from the same codebase.

PiperOrigin-RevId: 802060401
Change-Id: I6d0b9c7c2269ff596ac706b716ff6c95b42c5d99

doc/programming/index.rst

@@ -111,6 +111,8 @@ target directory.
 
 5. Select the directory: :shell:`cmake $PATH_TO_CLONED_REPO -DCMAKE_INSTALL_PREFIX=<my_install_dir>`
 #. After building, install with ``cmake --install .``
+#. If desired, proceed to building the Python bindings - see
+   :ref:`PyBuild`.
 
 **Notes:**
 

doc/python.rst

@@ -704,26 +704,33 @@ Building from source
 
 1. Make sure you have CMake and a C++17 compiler installed.
 
-2. Download the `latest binary release <https://github.com/google-deepmind/mujoco/releases>`__
+2. Clone the entire ``mujoco`` repository from GitHub.
-   from GitHub. On macOS, the download corresponds to a DMG file which you can mount by
+
-   double-clicking or running ``hdiutil attach <dmg_file>``.
+   .. code-block:: shell
-
+
-3. Clone the entire ``mujoco`` repository from GitHub and ``cd`` into the python
+     git clone https://github.com/google-deepmind/mujoco.git
-   directory:
+
+3. Install MuJoCo. Either download the
+   `latest binary release <https://github.com/google-deepmind/mujoco/releases>`__
+   from GitHub (On macOS, the download corresponds to a DMG file which you can
+   mount by double-clicking or running ``hdiutil attach <dmg_file>``),
+   or *build* and *install* it from source as per the instructions in
+   :ref:`inBuild`.
+
+4. ``cd`` into the python directory of the cloned MuJoCo codebase:
 
    .. code-block:: shell
 
-      git clone https://github.com/google-deepmind/mujoco.git
       cd mujoco/python
 
-4. Create a virtual environment:
+5. Create a virtual environment:
 
    .. code-block:: shell
 
       python3 -m venv /tmp/mujoco
       source /tmp/mujoco/bin/activate
 
-5. Generate a `source distribution <https://packaging.python.org/en/latest/glossary/#term-Source-Distribution-or-sdist>`__
+6. Generate a `source distribution <https://packaging.python.org/en/latest/glossary/#term-Source-Distribution-or-sdist>`__
    tarball with the ``make_sdist.sh`` script.
 
    .. code-block:: shell
@@ -736,10 +743,13 @@ Building from source
    completion, the script will create a ``dist`` directory with a
    ``mujoco-x.y.z.tar.gz`` file (where ``x.y.z`` is the version number).
 
-6. Use the generated source distribution to build and install the bindings.
+7. Use the generated source distribution to build and install the bindings.
-   You'll need to specify the path to the MuJoCo library you downloaded earlier
+   You'll need to specify the path to the MuJoCo library you downloaded
-   in the ``MUJOCO_PATH`` environment variable, and the path to the MuJoCo
+   or built and installed earlier in the ``MUJOCO_PATH`` environment
-   plugin directory in the ``MUJOCO_PLUGIN_PATH`` environment variable.
+   variable, and the path to the MuJoCo plugin directory in the
+   ``MUJOCO_PLUGIN_PATH`` environment variable. You can point the
+   ``MUJOCO_PLUGIN_PATH`` environment variable to the ``plugin``
+   folder of the MuJoCo codebase you cloned.
 
    .. note::
       For macOS, the files need to be extracted from the DMG.
@@ -752,7 +762,7 @@ Building from source
 
       cd dist
       MUJOCO_PATH=/PATH/TO/MUJOCO \
-      MUJOCO_PLUGIN_PATH=/PATH/TO/MUJOCO_PLUGIN \
+      MUJOCO_PLUGIN_PATH=/PATH/TO/MUJOCO/PLUGIN \
       pip install mujoco-x.y.z.tar.gz
 
 The Python bindings should now be installed! To check that they've been