pyrox.dev
1{
2 lib,
3 stdenv,
4 buildPythonPackage,
5 fetchPypi,
6
7 # nativeBuildInputs
8 cmake,
9
10 # build-system
11 setuptools,
12
13 # buildInputs
14 mujoco,
15 pybind11,
16
17 # dependencies
18 absl-py,
19 etils,
20 glfw,
21 numpy,
22 pyopengl,
23 typing-extensions,
24
25 perl,
26 python,
27}:
28
29buildPythonPackage rec {
30 pname = "mujoco";
31 inherit (mujoco) version;
32
33 pyproject = true;
34
35 # We do not fetch from the repository because the PyPi tarball is
36 # impurely build via
37 # <https://github.com/google-deepmind/mujoco/blob/main/python/make_sdist.sh>
38 # in the project's CI.
39 src = fetchPypi {
40 inherit pname version;
41 hash = "sha256-Emv7DbRC62QHd23E+Yx8AilUlHkx4Dw5XsRfpYRj+14=";
42 };
43
44 nativeBuildInputs = [ cmake ];
45
46 dontUseCmakeConfigure = true;
47
48 build-system = [ setuptools ];
49
50 buildInputs = [
51 mujoco
52 pybind11
53 ];
54
55 dependencies = [
56 absl-py
57 etils
58 glfw
59 numpy
60 pyopengl
61 typing-extensions
62 ];
63
64 pythonImportsCheck = [ "${pname}" ];
65
66 env.MUJOCO_PATH = "${mujoco}";
67 env.MUJOCO_PLUGIN_PATH = "${mujoco}/lib";
68 env.MUJOCO_CMAKE_ARGS = lib.concatStringsSep " " [
69 (lib.cmakeBool "MUJOCO_SIMULATE_USE_SYSTEM_GLFW" true)
70 (lib.cmakeBool "MUJOCO_PYTHON_USE_SYSTEM_PYBIND11" true)
71 ];
72
73 preConfigure =
74 # Use non-system eigen3, lodepng, abseil: Remove mirror info and prefill
75 # dependency directory. $build from setuptools.
76 (
77 let
78 # E.g. 3.11.2 -> "311"
79 pythonVersionMajorMinor =
80 with lib.versions;
81 "${major python.pythonVersion}${minor python.pythonVersion}";
82
83 # E.g. "linux-aarch64"
84 platform = with stdenv.hostPlatform.parsed; "${kernel.name}-${cpu.name}";
85 in
86 ''
87 ${lib.getExe perl} -0777 -i -pe "s/GIT_REPO\n.*\n.*GIT_TAG\n.*\n//gm" mujoco/CMakeLists.txt
88 ${lib.getExe perl} -0777 -i -pe "s/(FetchContent_Declare\(\n.*lodepng\n.*)(GIT_REPO.*\n.*GIT_TAG.*\n)(.*\))/\1\3/gm" mujoco/simulate/CMakeLists.txt
89
90 build="/build/${pname}-${version}/build/temp.${platform}-cpython-${pythonVersionMajorMinor}/"
91 mkdir -p $build/_deps
92 ln -s ${mujoco.pin.lodepng} $build/_deps/lodepng-src
93 ln -s ${mujoco.pin.eigen3} $build/_deps/eigen-src
94 ln -s ${mujoco.pin.abseil-cpp} $build/_deps/abseil-cpp-src
95 ''
96 );
97
98 meta = {
99 description = "Python bindings for MuJoCo: a general purpose physics simulator";
100 inherit (mujoco.meta) homepage changelog license;
101 maintainers = with lib.maintainers; [
102 GaetanLepage
103 tmplt
104 ];
105 };
106}