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

   1 { cereal_1_3_2
   2 , cmake
   3 , fetchFromGitHub
   4 , fetchFromGitLab
   5 , glfw
   6 , glm
   7 , lib
   8 , spdlog
   9 , stdenv
  10 }:
  11
  12 let
  13   pin = {
  14
  15     # See https://github.com/google-deepmind/mujoco/blob/3.0.0/cmake/MujocoDependencies.cmake#L17-L64
  16     abseil-cpp = fetchFromGitHub {
  17       owner = "abseil";
  18       repo = "abseil-cpp";
  19       rev = "2f9e432cce407ce0ae50676696666f33a77d42ac";
  20       hash = "sha256-D4E11bICKr3Z5RRah7QkfXVsXtuUg32FMmKpiOGjZDM=";
  21     };
  22     benchmark = fetchFromGitHub {
  23       owner = "google";
  24       repo = "benchmark";
  25       rev = "e45585a4b8e75c28479fa4107182c28172799640";
  26       hash = "sha256-pgHvmRpPd99ePUVRsi7WXLVSZngZ5q6r1vWW4mdGvxY=";
  27     };
  28     ccd = fetchFromGitHub {
  29       owner = "danfis";
  30       repo = "libccd";
  31       rev = "7931e764a19ef6b21b443376c699bbc9c6d4fba8";
  32       hash = "sha256-TIZkmqQXa0+bSWpqffIgaBela0/INNsX9LPM026x1Wk=";
  33     };
  34     eigen3 = fetchFromGitLab {
  35       owner = "libeigen";
  36       repo = "eigen";
  37       rev = "2a9055b50ed22101da7d77e999b90ed50956fe0b";
  38       hash = "sha256-tx/XR7xJ7IMh5RMvL8wRo/g+dfD3xcjZkLPSY4D9HaY=";
  39     };
  40     googletest = fetchFromGitHub {
  41       owner = "google";
  42       repo = "googletest";
  43       rev = "f8d7d77c06936315286eb55f8de22cd23c188571";
  44       hash = "sha256-t0RchAHTJbuI5YW4uyBPykTvcjy90JW9AOPNjIhwh6U=";
  45     };
  46     lodepng = fetchFromGitHub {
  47       owner = "lvandeve";
  48       repo = "lodepng";
  49       rev = "b4ed2cd7ecf61d29076169b49199371456d4f90b";
  50       hash = "sha256-5cCkdj/izP4e99BKfs/Mnwu9aatYXjlyxzzYiMD/y1M=";
  51     };
  52     qhull = fetchFromGitHub {
  53       owner = "qhull";
  54       repo = "qhull";
  55       rev = "0c8fc90d2037588024d9964515c1e684f6007ecc";
  56       hash = "sha256-Ptzxad3ewmKJbbcmrBT+os4b4SR976zlCG9F0nq0x94=";
  57     };
  58     tinyobjloader = fetchFromGitHub {
  59       owner = "tinyobjloader";
  60       repo = "tinyobjloader";
  61       rev = "1421a10d6ed9742f5b2c1766d22faa6cfbc56248";
  62       hash = "sha256-9z2Ne/WPCiXkQpT8Cun/pSGUwgClYH+kQ6Dx1JvW6w0=";
  63     };
  64     tinyxml2 = fetchFromGitHub {
  65       owner = "leethomason";
  66       repo = "tinyxml2";
  67       rev = "9a89766acc42ddfa9e7133c7d81a5bda108a0ade";
  68       hash = "sha256-YGAe4+Ttv/xeou+9FoJjmQCKgzupTYdDhd+gzvtz/88=";
  69     };
  70     marchingcubecpp = fetchFromGitHub {
  71       owner = "aparis69";
  72       repo = "MarchingCubeCpp";
  73       rev = "5b79e5d6bded086a0abe276a4b5a69fc17ae9bf1";
  74       hash = "sha256-L0DH1GJZ/3vatQAU/KZj/2xTKE6Fwcw9eQYzLdqX2N4=";
  75     };
  76
  77     tmd = stdenv.mkDerivation rec {
  78       name = "TriangleMeshDistance";
  79
  80       src = fetchFromGitHub {
  81         owner = "InteractiveComputerGraphics";
  82         repo = name;
  83         rev = "e55a15c20551f36242fd6368df099a99de71d43a";
  84         hash = "sha256-vj6TMMT8mp7ciLa5nzVAhMWPcAHXq+ZwHlWsRA3uCmg=";
  85       };
  86
  87       installPhase = ''
  88         mkdir -p $out/include/tmd
  89         cp ${name}/include/tmd/${name}.h $out/include/tmd/
  90       '';
  91     };
  92
  93     sdflib = stdenv.mkDerivation rec {
  94       name = "SdfLib";
  95
  96       src = fetchFromGitHub {
  97         owner = "UPC-ViRVIG";
  98         repo = name;
  99         rev = "1927bee6bb8225258a39c8cbf14e18a4d50409ae";
 100         hash = "sha256-+SFUOdZ6pGZvnQa0mT+yfbTMHWe2CTOlroXcuVBHdOE=";
 101       };
 102
 103       patches = [ ./sdflib-system-deps.patch ];
 104
 105       cmakeFlags = [
 106         "-DSDFLIB_USE_ASSIMP=OFF"
 107         "-DSDFLIB_USE_OPENMP=OFF"
 108         "-DSDFLIB_USE_ENOKI=OFF"
 109         "-DSDFLIB_USE_SYSTEM_GLM=ON"
 110         "-DSDFLIB_USE_SYSTEM_SPDLOG=ON"
 111         "-DSDFLIB_USE_SYSTEM_CEREAL=ON"
 112         "-DSDFLIB_USE_SYSTEM_TRIANGLEMESHDISTANCE=ON"
 113       ];
 114
 115       nativeBuildInputs = [ cmake ];
 116       buildInputs = [
 117         pin.tmd
 118
 119         # Mainline. The otherwise pinned glm realease from 2018 does
 120         # not build due to test failures and missing files.
 121         glm
 122
 123         spdlog
 124         cereal_1_3_2
 125       ];
 126     };
 127
 128   };
 129
 130 in stdenv.mkDerivation rec {
 131   pname = "mujoco";
 132   version = "3.1.4";
 133
 134   # Bumping version? Make sure to look though the MuJoCo's commit
 135   # history for bumped dependency pins!
 136   src = fetchFromGitHub {
 137     owner = "google-deepmind";
 138     repo = "mujoco";
 139     rev = "refs/tags/${version}";
 140     hash = "sha256-VgD6ditMDpHki7l23Gjip2roA8Oi4MGpxl+4gSLTEFs=";
 141   };
 142
 143   patches = [ ./mujoco-system-deps-dont-fetch.patch ];
 144
 145   nativeBuildInputs = [ cmake ];
 146
 147   buildInputs = [
 148     pin.sdflib
 149     glm
 150
 151     # non-numerical
 152     spdlog
 153     cereal_1_3_2
 154     glfw
 155   ];
 156
 157   cmakeFlags = [
 158     "-DMUJOCO_USE_SYSTEM_sdflib=ON"
 159     "-DMUJOCO_SIMULATE_USE_SYSTEM_GLFW=ON"
 160     "-DMUJOCO_SAMPLES_USE_SYSTEM_GLFW=ON"
 161   ];
 162
 163   # Move things into place so that cmake doesn't try downloading dependencies.
 164   preConfigure = ''
 165     mkdir -p build/_deps
 166     ln -s ${pin.abseil-cpp} build/_deps/abseil-cpp-src
 167     ln -s ${pin.benchmark} build/_deps/benchmark-src
 168     ln -s ${pin.ccd} build/_deps/ccd-src
 169     ln -s ${pin.eigen3} build/_deps/eigen3-src
 170     ln -s ${pin.googletest} build/_deps/googletest-src
 171     ln -s ${pin.lodepng} build/_deps/lodepng-src
 172     ln -s ${pin.qhull} build/_deps/qhull-src
 173     ln -s ${pin.tinyobjloader} build/_deps/tinyobjloader-src
 174     ln -s ${pin.tinyxml2} build/_deps/tinyxml2-src
 175     ln -s ${pin.marchingcubecpp} build/_deps/marchingcubecpp-src
 176   '';
 177
 178   passthru.pin = { inherit (pin) lodepng eigen3 abseil-cpp; };
 179
 180   meta = with lib; {
 181     description = "Multi-Joint dynamics with Contact. A general purpose physics simulator.";
 182     homepage = "https://mujoco.org/";
 183     changelog = "https://github.com/google-deepmind/mujoco/releases/tag/${version}";
 184     license = licenses.asl20;
 185     maintainers = with maintainers; [ samuela tmplt ];
 186     broken = stdenv.isDarwin;
 187   };
 188 }