Merge pull request #419 from aftersomemath:simulate-python

PiperOrigin-RevId: 487496285
Change-Id: I17d15bd2a3886e5ce1631f4eb78afa94830d08cc

python/mujoco/CMakeLists.txt

@@ -119,6 +119,7 @@ if(NOT TARGET mujoco)
     )
     set_target_properties(mujoco PROPERTIES IMPORTED_SONAME "${MUJOCO_SONAME}")
   endif()
+  add_library(mujoco::mujoco ALIAS mujoco)
 endif()
 
 # ==================== ABSEIL ==================================================
@@ -190,6 +191,9 @@ findorfetch(
 )
 
 # ==================== MUJOCO PYTHON BINDINGS ==================================
+set(SIMULATE_BUILD_EXECUTABLE OFF)
+set(SIMULATE_GLFW_DYNAMIC_SYMBOLS ON)
+add_subdirectory(simulate)
 
 add_subdirectory(util)
 
@@ -376,6 +380,14 @@ target_link_libraries(
           structs_header
 )
 
+mujoco_pybind11_module(_simulate simulate.cc)
+target_link_libraries(
+  _simulate
+  PRIVATE mujoco
+          mujoco::libsimulate
+          raw
+          structs_header)
+
 set(LIBRARIES_FOR_WHEEL
     "$<TARGET_FILE:_callbacks>"
     "$<TARGET_FILE:_constants>"
@@ -384,6 +396,7 @@ set(LIBRARIES_FOR_WHEEL
     "$<TARGET_FILE:_functions>"
     "$<TARGET_FILE:_render>"
     "$<TARGET_FILE:_rollout>"
+    "$<TARGET_FILE:_simulate>"
     "$<TARGET_FILE:_structs>"
     "$<TARGET_FILE:mujoco>"
 )
@@ -411,6 +424,7 @@ if(MUJOCO_PYTHON_MAKE_WHEEL)
     _functions
     _render
     _rollout
+    _simulate
     _structs
     mujoco
   )