Package request: MuJoCo Python bindings

[tmplt]

Project description

Native Python bindings for the MuJoCo library.

Metadata

• homepage URL: https://mujoco.readthedocs.io/en/stable/python.html
• source URL: https://pypi.org/project/mujoco/
• license: apache 2
• platforms: linux

[tmplt]

@traversaro, I am working on an initial packaging with your system-wide dependency patches for MuJoCo. Thanks for those. I've reached as far as SdfLib currently and saw you did some CMake work there too. Is your conda branch up-to-date, and are there any gotchas I should consider before looking into it?

[traversaro]

@traversaro, I am working on an initial packaging with your system-wide dependency patches for MuJoCo. Thanks for those. I've reached as far as SdfLib currently and saw you did some CMake work there too. Is your conda branch up-to-date, and are there any gotchas I should consider before looking into it?

Yes, it is kind of ready. That branch is meant to be used as done in https://github.com/traversaro/mujoco-conda-forge-ci/blob/usesystemdepsoptions2023sep/.github/workflows/ci.yml#L80, and with the further changes in mujoco in https://github.com/traversaro/mujoco/tree/usesystemdepsoptions2023sep .

[traversaro]

If you found this modification useful, feel free to comment in google-deepmind/mujoco#937, if we are able to merge the changes upstream the effort required to maintain these patches hopefully should reduce.

[tmplt]

Good idea. I will do so as soon as I have a MWE and an overview of the whole dependency tree.

[tmplt]

Some packaging notes:

• mujoco's CMake scripts fetches deps because of pinned releases. Some downstream deps also do this. Some system-wide deps can be used, but not all (see above linked issue). Multiple APIs are used to check/fetch deps. Currently, these issues are patched in a fork.
• Deps for Python bindings are all checked via the project's findorfetch script, which we can trivially patch. Ideally, the whole project should use the findorfetch API.
• PyPi tarball is impurely built/published and copies non-patched CMake files from project root, so these too must be patched. Solution: overwrite these files; merge Nix expressions in order to share patched project root.

[tmplt]

I have derivations that build at https://github.com/tmplt/nixpkgs/blob/3280b82643659959b74c8a51499bef28795b0a93/pkgs/applications/science/robotics/mujoco/default.nix. Before I PR I'm gonna see about pinning the last numerical dep (glm) and play around with the software a bit and hopefully stumble upon any eventual runtime issues.