pkgs/applications/science/robotics/mujoco/default.nix

   1 { cmake
   2 , fetchFromGitHub
   3 , fetchFromGitLab
   4 , git
   5 , lib
   6 , libGL
   7 , stdenv
   8 , xorg
   9 }:
  10
  11 let
  12   # See https://github.com/deepmind/mujoco/blob/c9246e1f5006379d599e0bcddf159a8616d31441/cmake/MujocoDependencies.cmake#L17-L55
  13   abseil-cpp = fetchFromGitHub {
  14     owner = "abseil";
  15     repo = "abseil-cpp";
  16     rev = "c2435f8342c2d0ed8101cb43adfd605fdc52dca2";
  17     hash = "sha256-PLoI7ix+reUqkZ947kWzls8lujYqWXk9A9a55UcfahI=";
  18   };
  19   benchmark = fetchFromGitHub {
  20     owner = "google";
  21     repo = "benchmark";
  22     rev = "2dd015dfef425c866d9a43f2c67d8b52d709acb6";
  23     hash = "sha256-pUW9YVaujs/y00/SiPqDgK4wvVsaM7QUp/65k0t7Yr0=";
  24   };
  25   ccd = fetchFromGitHub {
  26     owner = "danfis";
  27     repo = "libccd";
  28     rev = "7931e764a19ef6b21b443376c699bbc9c6d4fba8";
  29     hash = "sha256-TIZkmqQXa0+bSWpqffIgaBela0/INNsX9LPM026x1Wk=";
  30   };
  31   eigen3 = fetchFromGitLab {
  32     owner = "libeigen";
  33     repo = "eigen";
  34     rev = "211c5dfc6741a5570ad007983c113ef4d144f9f3";
  35     hash = "sha256-oT/h8QkL0vwaflh46Zsnu9Db1b65AP6p//nAga8M5jI=";
  36   };
  37   googletest = fetchFromGitHub {
  38     owner = "google";
  39     repo = "googletest";
  40     rev = "b796f7d44681514f58a683a3a71ff17c94edb0c1";
  41     hash = "sha256-LVLEn+e7c8013pwiLzJiiIObyrlbBHYaioO/SWbItPQ=";
  42   };
  43   lodepng = fetchFromGitHub {
  44     owner = "lvandeve";
  45     repo = "lodepng";
  46     rev = "b4ed2cd7ecf61d29076169b49199371456d4f90b";
  47     hash = "sha256-5cCkdj/izP4e99BKfs/Mnwu9aatYXjlyxzzYiMD/y1M=";
  48   };
  49   qhull = fetchFromGitHub {
  50     owner = "qhull";
  51     repo = "qhull";
  52     rev = "0c8fc90d2037588024d9964515c1e684f6007ecc";
  53     hash = "sha256-Ptzxad3ewmKJbbcmrBT+os4b4SR976zlCG9F0nq0x94=";
  54   };
  55   tinyobjloader = fetchFromGitHub {
  56     owner = "tinyobjloader";
  57     repo = "tinyobjloader";
  58     rev = "1421a10d6ed9742f5b2c1766d22faa6cfbc56248";
  59     hash = "sha256-9z2Ne/WPCiXkQpT8Cun/pSGUwgClYH+kQ6Dx1JvW6w0=";
  60   };
  61   tinyxml2 = fetchFromGitHub {
  62     owner = "leethomason";
  63     repo = "tinyxml2";
  64     rev = "9a89766acc42ddfa9e7133c7d81a5bda108a0ade";
  65     hash = "sha256-YGAe4+Ttv/xeou+9FoJjmQCKgzupTYdDhd+gzvtz/88=";
  66   };
  67
  68   # See https://github.com/deepmind/mujoco/blob/c9246e1f5006379d599e0bcddf159a8616d31441/simulate/cmake/SimulateDependencies.cmake#L32-L35
  69   glfw3 = fetchFromGitHub {
  70     owner = "glfw";
  71     repo = "glfw";
  72     rev = "7482de6071d21db77a7236155da44c172a7f6c9e";
  73     hash = "sha256-4+H0IXjAwbL5mAWfsIVhW0BSJhcWjkQx4j2TrzZ3aIo=";
  74   };
  75 in
  76 stdenv.mkDerivation rec {
  77   pname = "mujoco";
  78   version = "2.3.7";
  79
  80   src = fetchFromGitHub {
  81     owner = "deepmind";
  82     repo = pname;
  83     rev = version;
  84     hash = "sha256-LgpA+iPGqciHuWBSD6/7yvZ7p+vo48ZYKjjrDZSnAwE=";
  85   };
  86
  87   patches = [ ./dependencies.patch ];
  88
  89   nativeBuildInputs = [ cmake git ];
  90
  91   buildInputs = [
  92     libGL
  93     xorg.libX11
  94     xorg.libXcursor
  95     xorg.libXext
  96     xorg.libXi
  97     xorg.libXinerama
  98     xorg.libXrandr
  99   ];
 100
 101   # Move things into place so that cmake doesn't try downloading dependencies.
 102   preConfigure = ''
 103     mkdir -p build/_deps
 104     ln -s ${abseil-cpp} build/_deps/abseil-cpp-src
 105     ln -s ${benchmark} build/_deps/benchmark-src
 106     ln -s ${ccd} build/_deps/ccd-src
 107     ln -s ${eigen3} build/_deps/eigen3-src
 108     ln -s ${glfw3} build/_deps/glfw3-src
 109     ln -s ${googletest} build/_deps/googletest-src
 110     ln -s ${lodepng} build/_deps/lodepng-src
 111     ln -s ${qhull} build/_deps/qhull-src
 112     ln -s ${tinyobjloader} build/_deps/tinyobjloader-src
 113     ln -s ${tinyxml2} build/_deps/tinyxml2-src
 114   '';
 115
 116   meta = with lib; {
 117     description = "Multi-Joint dynamics with Contact. A general purpose physics simulator.";
 118     homepage = "https://mujoco.org/";
 119     license = licenses.asl20;
 120     maintainers = with maintainers; [ samuela ];
 121   };
 122 }