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diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt
index 90fab4eb..03162872 100644
--- a/python/mujoco/CMakeLists.txt
+++ b/python/mujoco/CMakeLists.txt
@@ -132,7 +132,7 @@ endif()
set(MUJOCO_PYTHON_ABSL_TARGETS absl::core_headers absl::flat_hash_map absl::span)
findorfetch(
USE_SYSTEM_PACKAGE
- OFF
+ ON
PACKAGE_NAME
absl
LIBRARY_NAME
@@ -165,7 +165,7 @@ endforeach()
add_compile_definitions(EIGEN_MPL2_ONLY)
findorfetch(
USE_SYSTEM_PACKAGE
- OFF
+ ON
PACKAGE_NAME
Eigen3
LIBRARY_NAME
@@ -183,6 +183,7 @@ findorfetch(
option(MUJOCO_PYTHON_USE_SYSTEM_PYBIND11 "Use installed pybind11 version." OFF)
findorfetch(
USE_SYSTEM_PACKAGE
+ ON
MUJOCO_PYTHON_USE_SYSTEM_PYBIND11
PACKAGE_NAME
pybind11
diff --git a/python/mujoco/__init__.py b/python/mujoco/__init__.py
index d551daa2..8dc9892e 100644
--- a/python/mujoco/__init__.py
+++ b/python/mujoco/__init__.py
@@ -198,8 +198,8 @@ _specs.MjSpec.to_zip = to_zip
_structs.MjData.bind = _bind_data
_structs.MjModel.bind = _bind_model
-HEADERS_DIR = os.path.join(os.path.dirname(__file__), 'include/mujoco')
-PLUGINS_DIR = os.path.join(os.path.dirname(__file__), 'plugin')
+HEADERS_DIR = '/usr/include/mujoco'
+PLUGINS_DIR = '/usr/lib/mujoco/plugins'
PLUGIN_HANDLES = []
diff --git a/python/setup.py b/python/setup.py
index cebdec84..ec798295 100644
--- a/python/setup.py
+++ b/python/setup.py
@@ -151,15 +151,16 @@ class BuildCMakeExtension(build_ext.build_ext):
self._mujoco_include_path,
self._mujoco_plugins_path,
self._mujoco_framework_path,
- ) = self._find_mujoco()
+ #) = self._find_mujoco()
+ ) = ("/usr/lib","/usr/include/mujoco","/usr/lib/mujoco/plugins",None)
self._configure_cmake()
for ext in self.extensions:
assert ext.name.startswith(EXT_PREFIX)
assert '.' not in ext.name[len(EXT_PREFIX) :]
self.build_extension(ext)
- self._copy_external_libraries()
- self._copy_mujoco_headers()
- self._copy_plugin_libraries()
+ #self._copy_external_libraries()
+ #self._copy_mujoco_headers()
+ #self._copy_plugin_libraries()
if self._is_apple:
self._copy_mjpython()
diff --git a/simulate/CMakeLists.txt b/simulate/CMakeLists.txt
index 4a615018..5a0fbd0e 100644
--- a/simulate/CMakeLists.txt
+++ b/simulate/CMakeLists.txt
@@ -81,6 +81,7 @@ if(MUJOCO_HARDEN)
endif()
# Fetch lodepng dependency.
+find_package(lodepng REQUIRED)
if(NOT TARGET lodepng)
FetchContent_Declare(
lodepng
@@ -116,8 +117,13 @@ if(APPLE)
endif()
target_include_directories(
platform_ui_adapter PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
- $<TARGET_PROPERTY:glfw,INTERFACE_INCLUDE_DIRECTORIES>
)
+# Upstream MuJoCo is carefully not linking glfw here, and so it is just include its directories
+# to avoid dealing with two copies of glfw. In conda-forge (or in any C++/Python distribution)
+# pyglfw will depend on the same glfw copy linked here, so we can just link glfw normally
+# This avoids the tricky cmake bug https://gitlab.kitware.com/cmake/cmake/-/issues/19072
+# target_include_directories(platform_ui_adapter PUBLIC glfw)
+target_link_libraries(platform_ui_adapter PUBLIC glfw)
target_link_libraries(platform_ui_adapter PUBLIC mujoco::mujoco)
if(SIMULATE_GLFW_DYNAMIC_SYMBOLS)
target_compile_definitions(platform_ui_adapter PUBLIC mjGLFW_DYNAMIC_SYMBOLS)
diff --git a/simulate/cmake/SimulateDependencies.cmake b/simulate/cmake/SimulateDependencies.cmake
index 7885f5f9..1b69b018 100644
--- a/simulate/cmake/SimulateDependencies.cmake
+++ b/simulate/cmake/SimulateDependencies.cmake
@@ -22,12 +22,12 @@ else()
endif()
option(MUJOCO_SIMULATE_USE_SYSTEM_MUJOCO "Use installed MuJoCo version."
- ${DEFAULT_USE_SYSTEM_MUJOCO}
+ ON
)
unset(DEFAULT_USE_SYSTEM_MUJOCO)
-option(MUJOCO_SIMULATE_USE_SYSTEM_MUJOCO "Use installed MuJoCo version." OFF)
-option(MUJOCO_SIMULATE_USE_SYSTEM_GLFW "Use installed GLFW version." OFF)
+option(MUJOCO_SIMULATE_USE_SYSTEM_MUJOCO "Use installed MuJoCo version." ON)
+option(MUJOCO_SIMULATE_USE_SYSTEM_GLFW "Use installed GLFW version." ON)
set(MUJOCO_DEP_VERSION_glfw3
7b6aead9fb88b3623e3b3725ebb42670cbe4c579 # 3.4
@@ -59,7 +59,7 @@ findorfetch(
)
option(MUJOCO_EXTRAS_STATIC_GLFW
- "Link MuJoCo sample apps and simulate libraries against GLFW statically." ON
+ "Link MuJoCo sample apps and simulate libraries against GLFW statically." OFF
)
if(MUJOCO_EXTRAS_STATIC_GLFW)
set(BUILD_SHARED_LIBS_OLD ${BUILD_SHARED_LIBS})
|