diff --git a/pkgs/by-name/mu/mujoco/mujoco-system-deps-dont-fetch.patch b/pkgs/by-name/mu/mujoco/mujoco-system-deps-dont-fetch.patch index c09787ff84c5..a6b90781e001 100644 --- a/pkgs/by-name/mu/mujoco/mujoco-system-deps-dont-fetch.patch +++ b/pkgs/by-name/mu/mujoco/mujoco-system-deps-dont-fetch.patch @@ -1,17 +1,8 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt -index eea180c0..efb39178 100644 +index aaac4e38..fe4e9932 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt -@@ -93,7 +93,7 @@ add_subdirectory(src/render) - add_subdirectory(src/thread) - add_subdirectory(src/ui) - --target_compile_definitions(mujoco PRIVATE _GNU_SOURCE CCD_STATIC_DEFINE MUJOCO_DLL_EXPORTS -DMC_IMPLEM_ENABLE) -+target_compile_definitions(mujoco PRIVATE _GNU_SOURCE MUJOCO_DLL_EXPORTS -DMC_IMPLEM_ENABLE) - if(MUJOCO_ENABLE_AVX_INTRINSICS) - target_compile_definitions(mujoco PUBLIC mjUSEPLATFORMSIMD) - endif() -@@ -118,7 +118,7 @@ target_link_libraries( +@@ -120,7 +120,7 @@ target_link_libraries( lodepng qhullstatic_r tinyobjloader @@ -21,7 +12,7 @@ index eea180c0..efb39178 100644 set_target_properties( diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake -index 44962272..656beeb8 100644 +index 23e4e71e..33081e00 100644 --- a/cmake/MujocoDependencies.cmake +++ b/cmake/MujocoDependencies.cmake @@ -93,28 +93,36 @@ set(BUILD_SHARED_LIBS @@ -75,7 +66,7 @@ index 44962272..656beeb8 100644 ) FetchContent_GetProperties(marchingcubecpp) -@@ -124,119 +132,158 @@ if(NOT TARGET marchingcubecpp) +@@ -124,119 +132,157 @@ if(NOT TARGET marchingcubecpp) endif() endif() @@ -196,7 +187,6 @@ index 44962272..656beeb8 100644 option(SDFLIB_USE_ASSIMP OFF) option(SDFLIB_USE_OPENMP OFF) option(SDFLIB_USE_ENOKI OFF) -+ findorfetch( USE_SYSTEM_PACKAGE - OFF @@ -285,7 +275,7 @@ index 44962272..656beeb8 100644 set(ABSL_PROPAGATE_CXX_STD ON) # This specific version of Abseil does not have the following variable. We need to work with BUILD_TESTING -@@ -249,15 +296,11 @@ if(MUJOCO_BUILD_TESTS) +@@ -249,15 +295,11 @@ if(MUJOCO_BUILD_TESTS) set(ABSL_BUILD_TESTING OFF) findorfetch( USE_SYSTEM_PACKAGE @@ -302,7 +292,7 @@ index 44962272..656beeb8 100644 TARGETS absl::core_headers EXCLUDE_FROM_ALL -@@ -268,6 +311,9 @@ if(MUJOCO_BUILD_TESTS) +@@ -268,6 +310,9 @@ if(MUJOCO_BUILD_TESTS) CACHE BOOL "Build tests." FORCE ) @@ -312,7 +302,7 @@ index 44962272..656beeb8 100644 # Avoid linking errors on Windows by dynamically linking to the C runtime. set(gtest_force_shared_crt ON -@@ -276,22 +322,20 @@ if(MUJOCO_BUILD_TESTS) +@@ -276,22 +321,20 @@ if(MUJOCO_BUILD_TESTS) findorfetch( USE_SYSTEM_PACKAGE @@ -341,7 +331,7 @@ index 44962272..656beeb8 100644 set(BENCHMARK_EXTRA_FETCH_ARGS "") if(WIN32 AND NOT MSVC) set(BENCHMARK_EXTRA_FETCH_ARGS -@@ -310,15 +354,11 @@ if(MUJOCO_BUILD_TESTS) +@@ -310,15 +353,11 @@ if(MUJOCO_BUILD_TESTS) findorfetch( USE_SYSTEM_PACKAGE @@ -358,7 +348,7 @@ index 44962272..656beeb8 100644 TARGETS benchmark::benchmark benchmark::benchmark_main -@@ -328,15 +368,18 @@ if(MUJOCO_BUILD_TESTS) +@@ -328,15 +367,18 @@ if(MUJOCO_BUILD_TESTS) endif() if(MUJOCO_TEST_PYTHON_UTIL) @@ -382,7 +372,7 @@ index 44962272..656beeb8 100644 ) FetchContent_GetProperties(Eigen3) -@@ -348,6 +391,19 @@ if(MUJOCO_TEST_PYTHON_UTIL) +@@ -348,6 +390,19 @@ if(MUJOCO_TEST_PYTHON_UTIL) set_target_properties( Eigen3::Eigen PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${eigen3_SOURCE_DIR}" ) @@ -479,19 +469,10 @@ index 5141406c..75ff7884 100644 glfw EXCLUDE_FROM_ALL diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt -index 122760a9..ddd90819 100644 +index 0f92803d..da9dce4c 100644 --- a/test/CMakeLists.txt +++ b/test/CMakeLists.txt -@@ -30,7 +30,7 @@ macro(mujoco_test name) - ) - - add_executable(${name} ${name}.cc) -- target_link_libraries(${name} gtest_main mujoco) -+ target_link_libraries(${name} GTest::gtest_main mujoco) - target_include_directories(${name} PRIVATE ${MUJOCO_TEST_INCLUDE}) - set_target_properties(${name} PROPERTIES BUILD_RPATH ${CMAKE_LIBRARY_OUTPUT_DIRECTORY}) - # gtest_discover_tests is recommended over gtest_add_tests, but has some issues in Windows. -@@ -60,20 +60,20 @@ target_link_libraries( +@@ -81,8 +81,8 @@ target_link_libraries( absl::synchronization absl::flat_hash_map absl::flat_hash_set @@ -502,18 +483,3 @@ index 122760a9..ddd90819 100644 mujoco::mujoco ) target_include_directories(fixture PRIVATE ${mujoco_SOURCE_DIR}/include gmock) - - mujoco_test(fixture_test) --target_link_libraries(fixture_test fixture gmock) -+target_link_libraries(fixture_test fixture GTest::gmock) - - mujoco_test(header_test) --target_link_libraries(header_test fixture gmock) -+target_link_libraries(fixture_test fixture GTest::gmock) - - mujoco_test(pipeline_test) --target_link_libraries(pipeline_test fixture gmock) -+target_link_libraries(fixture_test fixture GTest::gmock) - - add_subdirectory(benchmark) - add_subdirectory(engine) diff --git a/pkgs/by-name/mu/mujoco/package.nix b/pkgs/by-name/mu/mujoco/package.nix index 6396dd95a042..afbb18e0c79c 100644 --- a/pkgs/by-name/mu/mujoco/package.nix +++ b/pkgs/by-name/mu/mujoco/package.nix @@ -1,13 +1,14 @@ { - cereal_1_3_2, - cmake, + lib, + stdenv, fetchFromGitHub, + cmake, fetchFromGitLab, glfw, glm, - lib, spdlog, - stdenv, + cereal_1_3_2, + python3Packages, }: let @@ -35,8 +36,8 @@ let eigen3 = fetchFromGitLab { owner = "libeigen"; repo = "eigen"; - rev = "d34b100c137ac931379ae5e1b888f16a9c8d6c72"; - hash = "sha256-GYjENtobSWCJqRw2GJbxAJDZSdyBNqWkobn2Vm5H53Q="; + rev = "7f2377859377da6f22152015c28b12c04752af77"; + hash = "sha256-SmyvY/WlU9jryD9ZpSw73dQEc9jI4ySQPRnplg/BC4w="; }; googletest = fetchFromGitHub { owner = "google"; @@ -131,7 +132,7 @@ let in stdenv.mkDerivation rec { pname = "mujoco"; - version = "3.2.6"; + version = "3.2.7"; # Bumping version? Make sure to look though the MuJoCo's commit # history for bumped dependency pins! @@ -139,7 +140,7 @@ stdenv.mkDerivation rec { owner = "google-deepmind"; repo = "mujoco"; tag = version; - hash = "sha256-n1H9e+GMqHYsimypF7AiVzHC2dXkL+4FWDEHB5B2ZIE="; + hash = "sha256-TAhgu3h7tCflIMscVS+jYuUfMmIYcCcI3JFxUlj8g9E="; }; patches = [ ./mujoco-system-deps-dont-fetch.patch ]; @@ -177,8 +178,13 @@ stdenv.mkDerivation rec { ln -s ${pin.marchingcubecpp} build/_deps/marchingcubecpp-src ''; - passthru.pin = { - inherit (pin) lodepng eigen3 abseil-cpp; + passthru = { + pin = { + inherit (pin) lodepng eigen3 abseil-cpp; + }; + tests = { + pythonMujoco = python3Packages.mujoco; + }; }; meta = { diff --git a/pkgs/development/python-modules/mujoco/default.nix b/pkgs/development/python-modules/mujoco/default.nix index d9cdea7f38d4..89a31e15a96b 100644 --- a/pkgs/development/python-modules/mujoco/default.nix +++ b/pkgs/development/python-modules/mujoco/default.nix @@ -37,7 +37,7 @@ buildPythonPackage rec { # in the project's CI. src = fetchPypi { inherit pname version; - hash = "sha256-kl7+5cMvaAaILEARKs5KPtdLE7Kv8J7NddZnj6oLwk8="; + hash = "sha256-a0ATRmtFV11J3T2HSNCZhfc0kAOu8yaHIW0rkCrHsTg="; }; nativeBuildInputs = [ cmake ]; diff --git a/pkgs/development/python-modules/torchrl/default.nix b/pkgs/development/python-modules/torchrl/default.nix index 759ce4b4b5dc..7977725b1d95 100644 --- a/pkgs/development/python-modules/torchrl/default.nix +++ b/pkgs/development/python-modules/torchrl/default.nix @@ -175,7 +175,8 @@ buildPythonPackage rec { "test_gae_param_as_tensor" ] ++ lib.optionals (stdenv.hostPlatform.isLinux && stdenv.hostPlatform.isAarch64) [ - # Flaky (AssertionError) + # Flaky + # AssertionError: assert tensor([51.]) == ((5 * 11) + 2) "test_vecnorm_parallel_auto" ];