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diff --unified --recursive --text mujoco-py-2.0.2.9.orig/mujoco_py/builder.py mujoco-py-2.0.2.9.new/mujoco_py/builder.py
--- mujoco-py-2.0.2.9.orig/mujoco_py/builder.py 2020-04-07 21:40:53.528385933 -0400
+++ mujoco-py-2.0.2.9.new/mujoco_py/builder.py 2020-04-07 21:39:20.261717094 -0400
@@ -31,7 +31,7 @@
docker_path = '/usr/local/nvidia/lib64'
if exists(docker_path):
return docker_path
- paths = glob.glob('/usr/lib/nvidia-[0-9][0-9][0-9]')
+ paths = glob.glob('/usr/lib/nvidia')
paths = sorted(paths)
if len(paths) == 0:
return None
@@ -66,9 +66,7 @@
if sys.platform == 'darwin':
Builder = MacExtensionBuilder
elif sys.platform == 'linux':
- _ensure_set_env_var("LD_LIBRARY_PATH", lib_path)
if os.getenv('MUJOCO_PY_FORCE_CPU') is None and get_nvidia_lib_dir() is not None:
- _ensure_set_env_var("LD_LIBRARY_PATH", get_nvidia_lib_dir())
Builder = LinuxGPUExtensionBuilder
else:
Builder = LinuxCPUExtensionBuilder
@@ -84,6 +82,13 @@
builder = Builder(mujoco_path)
cext_so_path = builder.get_so_file_path()
+ # Check if we have write access to the cext_so_path.
+ # If not, it's probably because mujoco-py has been installed and everything is
+ # read-only. Returning here is necessary because the lock creation will fail.
+ # It might be better to try-catch the lock but this minimizes the diff complexity.
+ if not os.access(os.path.dirname(cext_so_path), os.W_OK):
+ return load_dynamic_ext('cymj', cext_so_path)
+
lockpath = os.path.join(os.path.dirname(cext_so_path), 'mujocopy-buildlock')
with fasteners.InterProcessLock(lockpath):
@@ -205,11 +210,10 @@
sources=[join(self.CYMJ_DIR_PATH, "cymj.pyx")],
include_dirs=[
self.CYMJ_DIR_PATH,
- join(mujoco_path, 'include'),
+ "/usr/include/mujoco",
np.get_include(),
],
libraries=['mujoco200'],
- library_dirs=[join(mujoco_path, 'bin')],
extra_compile_args=[
'-fopenmp', # needed for OpenMP
'-w', # suppress numpy compilation warnings
@@ -266,14 +270,13 @@
self.extension.sources.append(
join(self.CYMJ_DIR_PATH, "gl", "osmesashim.c"))
- self.extension.libraries.extend(['glewosmesa', 'OSMesa', 'GL'])
- self.extension.runtime_library_dirs = [join(mujoco_path, 'bin')]
+ self.extension.libraries.extend(['GLEW', 'OSMesa', 'GL'])
def _build_impl(self):
so_file_path = super()._build_impl()
# Removes absolute paths to libraries. Allows for dynamic loading.
fix_shared_library(so_file_path, 'libmujoco200.so', 'libmujoco200.so')
- fix_shared_library(so_file_path, 'libglewosmesa.so', 'libglewosmesa.so')
+ fix_shared_library(so_file_path, 'libGLEW.so', 'libGLEW.so')
return so_file_path
@@ -284,15 +287,14 @@
self.extension.sources.append(self.CYMJ_DIR_PATH + "/gl/eglshim.c")
self.extension.include_dirs.append(self.CYMJ_DIR_PATH + '/vendor/egl')
- self.extension.libraries.extend(['glewegl'])
- self.extension.runtime_library_dirs = [join(mujoco_path, 'bin')]
+ self.extension.libraries.extend(['GLEW'])
def _build_impl(self):
so_file_path = super()._build_impl()
fix_shared_library(so_file_path, 'libOpenGL.so', 'libOpenGL.so.0')
fix_shared_library(so_file_path, 'libEGL.so', 'libEGL.so.1')
fix_shared_library(so_file_path, 'libmujoco200.so', 'libmujoco200.so')
- fix_shared_library(so_file_path, 'libglewegl.so', 'libglewegl.so')
+ fix_shared_library(so_file_path, 'libGLEW.so', 'libGLEW.so')
return so_file_path
@@ -476,8 +478,7 @@
source_string += '\nuintptr_t __fun = (uintptr_t) fun;'
# Link against mujoco so we can call mujoco functions from within callback
ffibuilder.set_source(name, source_string,
- include_dirs=[join(mujoco_path, 'include')],
- library_dirs=[join(mujoco_path, 'bin')],
+ include_dirs=["/usr/include/mujoco"],
libraries=['mujoco200'])
# Catch compilation exceptions so we can cleanup partial files in that case
try:
diff --unified --recursive --text mujoco-py-2.0.2.9.orig/mujoco_py/utils.py mujoco-py-2.0.2.9.new/mujoco_py/utils.py
--- mujoco-py-2.0.2.9.orig/mujoco_py/utils.py 2020-04-07 21:40:53.548385935 -0400
+++ mujoco-py-2.0.2.9.new/mujoco_py/utils.py 2020-04-06 22:17:43.277818305 -0400
@@ -72,7 +72,6 @@
def discover_mujoco():
"""
Discovers where MuJoCo is located in the file system.
- Currently assumes path is in ~/.mujoco
Returns:
- mujoco_path (str): Path to MuJoCo 2.0 directory.
@@ -81,9 +80,13 @@
key_path = os.getenv('MUJOCO_PY_MJKEY_PATH')
if not key_path:
key_path = join(expanduser('~'), '.mujoco', 'mjkey.txt')
+ if not exists(key_path):
+ key_path = "/usr/share/licenses/mujoco/mjkey.txt"
mujoco_path = os.getenv('MUJOCO_PY_MUJOCO_PATH')
if not mujoco_path:
mujoco_path = join(expanduser('~'), '.mujoco', 'mujoco200')
+ if not exists(mujoco_path):
+ mujoco_path = "/opt/mujoco/mujoco200"
# We get lots of github issues that seem to be missing these
# so check that mujoco is really there and raise errors if not.
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