Google DeepMind
4137a4c774
PiperOrigin-RevId: 752482043 Change-Id: I3dae8a0b9de2be4d456e856825c18f16f62bf51a
516 lines
15 KiB
CMake
516 lines
15 KiB
CMake
# Copyright 2022 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# https://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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project(mujoco_python)
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cmake_minimum_required(VERSION 3.15)
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# Support new IN_LIST if() operator.
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set(CMAKE_POLICY_DEFAULT_CMP0057 NEW)
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# INTERPROCEDURAL_OPTIMIZATION is enforced when enabled.
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set(CMAKE_POLICY_DEFAULT_CMP0069 NEW)
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enable_language(C)
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enable_language(CXX)
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if(APPLE)
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enable_language(OBJCXX)
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endif()
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if(MSVC AND MSVC_VERSION GREATER_EQUAL 1927)
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set(CMAKE_CXX_STANDARD 20) # For forceinline lambdas.
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else()
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set(CMAKE_CXX_STANDARD 17)
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endif()
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_CXX_EXTENSIONS OFF)
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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set(CMAKE_C_VISIBILITY_PRESET hidden)
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set(CMAKE_CXX_VISIBILITY_PRESET hidden)
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set(CMAKE_VISIBILITY_INLINES_HIDDEN ON)
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# TODO(stunya) Figure out why this is required.
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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(${EXTRA_LINK_OPTIONS})
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include(MujocoMacOS)
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enforce_mujoco_macosx_min_version()
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if(WIN32)
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add_compile_definitions(_CRT_SECURE_NO_WARNINGS)
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endif()
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include(MujocoHarden)
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add_compile_options("${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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add_library(
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mujoco
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SHARED
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IMPORTED
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GLOBAL
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)
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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 ${MUJOCO_FRAMEWORK}/mujoco.framework")
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set(MUJOCO_LIBRARY
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${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.3.3.dylib
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)
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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(
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MUJOCO_LIBRARY mujoco mujoco.3.3.3 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
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)
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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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if(APPLE)
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execute_process(
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COMMAND otool -XD ${MUJOCO_LIBRARY}
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COMMAND head -n 1
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COMMAND xargs dirname
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COMMAND xargs echo -n
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OUTPUT_VARIABLE MUJOCO_INSTALL_NAME_DIR
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)
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set_target_properties(mujoco PROPERTIES INSTALL_NAME_DIR "${MUJOCO_INSTALL_NAME_DIR}")
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elseif(UNIX)
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execute_process(
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COMMAND objdump -p ${MUJOCO_LIBRARY}
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COMMAND grep SONAME
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COMMAND grep -Po [^\\s]+$
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COMMAND xargs echo -n
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OUTPUT_VARIABLE MUJOCO_SONAME
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)
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set_target_properties(mujoco PROPERTIES IMPORTED_SONAME "${MUJOCO_SONAME}")
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endif()
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add_library(mujoco::mujoco ALIAS mujoco)
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endif()
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# ==================== ABSEIL ==================================================
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set(MUJOCO_PYTHON_ABSL_TARGETS absl::core_headers absl::flat_hash_map absl::span)
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findorfetch(
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USE_SYSTEM_PACKAGE
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OFF
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PACKAGE_NAME
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absl
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LIBRARY_NAME
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abseil-cpp
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GIT_REPO
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https://github.com/abseil/abseil-cpp
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GIT_TAG
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d9e4955c65cd4367dd6bf46f4ccb8cd3d100540b # LTS 20250127.1
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TARGETS
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${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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findorfetch(
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USE_SYSTEM_PACKAGE
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OFF
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PACKAGE_NAME
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Eigen3
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LIBRARY_NAME
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eigen
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GIT_REPO
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https://gitlab.com/libeigen/eigen
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GIT_TAG
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464c1d097891a1462ab28bf8bb763c1683883892
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TARGETS
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Eigen3::Eigen
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EXCLUDE_FROM_ALL
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)
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# ==================== PYBIND11 ================================================
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option(MUJOCO_PYTHON_USE_SYSTEM_PYBIND11 "Use installed pybind11 version." OFF)
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findorfetch(
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USE_SYSTEM_PACKAGE
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MUJOCO_PYTHON_USE_SYSTEM_PYBIND11
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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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a2e59f0e7065404b44dfe92a28aca47ba1378dc4 # v2.13.6
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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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set(SIMULATE_BUILD_EXECUTABLE OFF)
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set(SIMULATE_GLFW_DYNAMIC_SYMBOLS ON)
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add_subdirectory(simulate)
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add_subdirectory(util)
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add_library(mujoco_private_api_header INTERFACE)
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target_sources(mujoco_private_api_header INTERFACE private.h)
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set_target_properties(mujoco_private_api_header PROPERTIES PUBLIC_HEADER private.h)
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target_link_libraries(mujoco_private_api_header INTERFACE mujoco)
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if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/enum_traits.h)
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add_library(enum_traits INTERFACE)
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target_sources(enum_traits INTERFACE enum_traits.h)
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else()
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add_custom_command(
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OUTPUT enum_traits.h
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COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH=${mujoco_SOURCE_DIR}/mujoco/python/mujoco ${Python3_EXECUTABLE}
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${CMAKE_CURRENT_SOURCE_DIR}/codegen/generate_enum_traits.py > enum_traits.h
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DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/codegen/generate_enum_traits.py
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)
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add_library(enum_traits INTERFACE)
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target_sources(enum_traits INTERFACE enum_traits.h)
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target_include_directories(
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enum_traits INTERFACE ${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR}
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)
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endif()
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target_link_libraries(enum_traits INTERFACE mujoco absl::core_headers)
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if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/function_traits.h)
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add_library(function_traits INTERFACE)
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target_sources(function_traits INTERFACE function_traits.h)
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else()
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add_custom_command(
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OUTPUT function_traits.h
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COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH=${mujoco_SOURCE_DIR}/mujoco/python/mujoco ${Python3_EXECUTABLE}
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${CMAKE_CURRENT_SOURCE_DIR}/codegen/generate_function_traits.py > function_traits.h
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DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/codegen/generate_function_traits.py
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)
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add_library(function_traits INTERFACE)
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target_sources(function_traits INTERFACE function_traits.h)
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target_include_directories(
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function_traits INTERFACE ${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR}
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)
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endif()
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target_link_libraries(function_traits INTERFACE mujoco absl::core_headers)
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add_library(errors_header INTERFACE)
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target_sources(errors_header INTERFACE errors.h)
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set_target_properties(errors_header PROPERTIES PUBLIC_HEADER errors.h)
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target_link_libraries(
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errors_header
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INTERFACE crossplatform
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func_wrap
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mujoco
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mujoco_private_api_header
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)
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add_library(raw INTERFACE)
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target_sources(raw INTERFACE raw.h)
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set_target_properties(raw PROPERTIES PUBLIC_HEADER raw.h)
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target_link_libraries(raw INTERFACE mujoco)
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add_library(structs_header INTERFACE)
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target_sources(
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structs_header
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INTERFACE indexer_xmacro.h
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indexers.h
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structs.h
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)
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set_target_properties(structs_header PROPERTIES PUBLIC_HEADER structs.h)
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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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add_library(structs_wrappers STATIC
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structs_wrappers.cc
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serialization.h
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indexers.cc
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)
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target_include_directories(structs_wrappers PRIVATE ${Python3_INCLUDE_DIRS})
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target_link_libraries(
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structs_wrappers
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PRIVATE 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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structs_header
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pybind11::headers
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Eigen3::Eigen
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)
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add_library(functions_header INTERFACE)
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target_sources(functions_header INTERFACE functions.h)
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set_target_properties(functions_header PROPERTIES PUBLIC_HEADER functions.h)
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target_link_libraries(
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functions_header
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INTERFACE array_traits
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crossplatform
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Eigen3::Eigen
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errors_header
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func_wrap
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structs_header
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tuple_tools
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)
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include(CheckAvxSupport)
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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 ${AVX_COMPILE_OPTIONS})
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if(NOT MSVC)
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target_compile_options(
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${name}
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PRIVATE -Werror
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-Wall
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-Wimplicit-fallthrough
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-Wunused
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-Wno-int-in-bool-context
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-Wno-sign-compare
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)
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if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
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# Only allow fallthrough annotation via __attribute__.
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target_compile_options(${name} PRIVATE -Wimplicit-fallthrough=5)
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# https://gcc.gnu.org/bugzilla/show_bug.cgi?id=109561
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if (CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 11)
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target_compile_options(${name} PRIVATE -Wno-maybe-uninitialized)
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endif()
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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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TARGET ${name}
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POST_BUILD
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COMMAND
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install_name_tool -change
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$<TARGET_PROPERTY:mujoco,INSTALL_NAME_DIR>/$<TARGET_FILE_NAME:mujoco>
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@rpath/$<TARGET_FILE_NAME:mujoco> -add_rpath @loader_path $<TARGET_FILE:${name}>
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)
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elseif(NOT WIN32)
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set_target_properties(${name} PROPERTIES INSTALL_RPATH $ORIGIN BUILD_WITH_INSTALL_RPATH TRUE)
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endif()
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endmacro()
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mujoco_pybind11_module(_callbacks callbacks.cc)
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target_link_libraries(
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_callbacks
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PRIVATE errors_header
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mujoco
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raw
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structs_header
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)
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mujoco_pybind11_module(_constants constants.cc)
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target_link_libraries(_constants PRIVATE mujoco)
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mujoco_pybind11_module(_enums enums.cc)
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target_link_libraries(
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_enums
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PRIVATE crossplatform
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enum_traits
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mujoco
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tuple_tools
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)
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mujoco_pybind11_module(_errors errors.cc)
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target_link_libraries(_errors PRIVATE errors_header)
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mujoco_pybind11_module(_functions functions.cc)
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target_link_libraries(
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_functions
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PRIVATE Eigen3::Eigen
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functions_header
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function_traits
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mujoco
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raw
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)
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if(APPLE)
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# C++17 aligned allocation is not available until macOS 10.14.
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target_compile_options(_functions PRIVATE -fno-aligned-allocation)
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endif()
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mujoco_pybind11_module(_render render.cc)
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target_link_libraries(
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_render
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PRIVATE Eigen3::Eigen
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errors_header
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functions_header
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function_traits
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mujoco
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raw
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structs_header
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)
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mujoco_pybind11_module(_rollout rollout.cc threadpool.cc)
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target_link_libraries(_rollout PRIVATE functions_header mujoco raw)
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mujoco_pybind11_module(
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_structs
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indexers.cc
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serialization.h
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structs.cc
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)
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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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mujoco_private_api_header
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raw
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errors_header
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func_wrap
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function_traits
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structs_header
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structs_wrappers
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)
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if(NOT EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/specs.cc.inc)
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add_custom_command(
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OUTPUT specs.cc.inc
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COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH=${mujoco_SOURCE_DIR}/mujoco/python ${Python3_EXECUTABLE}
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${CMAKE_CURRENT_SOURCE_DIR}/codegen/generate_spec_bindings.py > specs.cc.inc
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DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/codegen/generate_spec_bindings.py
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)
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endif()
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mujoco_pybind11_module(
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_specs
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specs.cc
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specs_wrapper.h
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specs_wrapper.cc
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specs.cc.inc
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)
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target_link_libraries(
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_specs
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PRIVATE mujoco
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Eigen3::Eigen
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errors_header
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raw
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structs_header
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)
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mujoco_pybind11_module(_simulate simulate.cc)
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target_link_libraries(
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_simulate
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PRIVATE mujoco
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mujoco::libsimulate
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errors_header
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raw
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structs_header
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)
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set(LIBRARIES_FOR_WHEEL
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"$<TARGET_FILE:_callbacks>"
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"$<TARGET_FILE:_constants>"
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"$<TARGET_FILE:_enums>"
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"$<TARGET_FILE:_errors>"
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"$<TARGET_FILE:_functions>"
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"$<TARGET_FILE:_render>"
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"$<TARGET_FILE:_rollout>"
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"$<TARGET_FILE:_simulate>"
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"$<TARGET_FILE:_specs>"
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"$<TARGET_FILE:_structs>"
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"$<TARGET_FILE:mujoco>"
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)
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if(APPLE)
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add_executable(mjpython mjpython/mjpython.mm)
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target_include_directories(mjpython PRIVATE "${Python3_INCLUDE_DIRS}")
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target_link_libraries(mjpython PRIVATE "-framework Cocoa")
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set(LIBRARIES_FOR_WHEEL "${LIBRARIES_FOR_WHEEL}" "$<TARGET_FILE:mjpython>")
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endif()
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if(MUJOCO_PYTHON_MAKE_WHEEL)
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add_custom_target(
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wheel ALL
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COMMAND "${CMAKE_COMMAND}" -E rm -rf "${CMAKE_CURRENT_BINARY_DIR}/dist"
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COMMAND "${CMAKE_COMMAND}" -E copy_directory "${CMAKE_CURRENT_SOURCE_DIR}/.."
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"${CMAKE_CURRENT_BINARY_DIR}/dist"
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COMMAND "${CMAKE_COMMAND}" -E copy "${CMAKE_CURRENT_SOURCE_DIR}/../../LICENSE"
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"${CMAKE_CURRENT_BINARY_DIR}/dist/LICENSE"
|
|
COMMAND "${CMAKE_COMMAND}" -E copy ${LIBRARIES_FOR_WHEEL}
|
|
"${CMAKE_CURRENT_BINARY_DIR}/dist/mujoco"
|
|
COMMAND "${Python3_EXECUTABLE}" -m pip wheel --wheel-dir "${CMAKE_BINARY_DIR}" --no-deps -vvv
|
|
"${CMAKE_CURRENT_BINARY_DIR}/dist"
|
|
)
|
|
|
|
add_dependencies(
|
|
wheel
|
|
_callbacks
|
|
_constants
|
|
_enums
|
|
_errors
|
|
_functions
|
|
_render
|
|
_rollout
|
|
_simulate
|
|
_specs
|
|
_structs
|
|
mujoco
|
|
)
|
|
if(APPLE)
|
|
add_dependencies(wheel mjpython)
|
|
endif()
|
|
endif()
|