Use standalone MuJoCo 3.3.6 and jrl-cmakemodules v2

.github/workflows/ci.yml

@@ -33,13 +33,24 @@ jobs:
         sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
         echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
         sudo apt-get update
+        # Setup ROS 2 library paths for linking
+        echo "LD_LIBRARY_PATH=/opt/ros/humble/lib:$LD_LIBRARY_PATH" >> $GITHUB_ENV
+        echo "CMAKE_PREFIX_PATH=/opt/ros/humble:$CMAKE_PREFIX_PATH" >> $GITHUB_ENV
+    - name: Get MuJoCo Version
+      id: mujoco_version
+      shell: bash
+      run: |
+        set -x
+        set -e
+        MUJOCO_VERSION=$(cat $GITHUB_WORKSPACE/MUJOCO_VERSION | tr -d '[:space:]')
+        echo "MUJOCO_VERSION=$MUJOCO_VERSION" >> $GITHUB_OUTPUT
     - name: Install dependencies
       uses: jrl-umi3218/github-actions/install-dependencies@master
       with:
         compiler: ${{ matrix.compiler }}
         build-type: ${{ matrix.build-type }}
         ubuntu: |
-          apt: libmc-rtc-dev libxi-dev libxcursor-dev libxkbcommon-dev libxinerama-dev libxrandr-dev libglew-dev libboost-program-options-dev ros-humble-ament-index-cpp
+          apt: libmc-rtc-dev libxi-dev libxcursor-dev libxkbcommon-dev libxinerama-dev libxrandr-dev libglew-dev libboost-program-options-dev ros-humble-ament-index-cpp libglfw3-dev libcereal-dev libspdlog-dev
           apt-mirrors:
             mc-rtc:
               cloudsmith: mc-rtc/head
@@ -54,28 +65,15 @@ jobs:
             registries:
             - repo: mc-rtc/vcpkg-registry
               packages: [ spacevecalg, rbdyn, eigen-qld, sch-core, tasks, mc-rbdyn-urdf, mc-rtc-data, eigen-quadprog, state-observation, hpp-spline, mc-rtc ]
-    - name: Install MuJoCo
-      shell: bash
-      run: |
-        set -x
-        set -e
-        mkdir -p /opt
-        cd /opt
-        MUJOCO_VERSION=$(cat $GITHUB_WORKSPACE/MUJOCO_VERSION | tr -d '[:space:]')
-        wget --quiet https://github.com/deepmind/mujoco/releases/download/${MUJOCO_VERSION}/mujoco-${MUJOCO_VERSION}-linux-x86_64.tar.gz
-        tar xzf mujoco-${MUJOCO_VERSION}-linux-x86_64.tar.gz
-        mv mujoco-${MUJOCO_VERSION} mujoco
-        rm -rf *.tar.gz
-        echo "MUJOCO_ROOT_DIR=/opt/mujoco" >> $GITHUB_ENV
-        # Setup ROS 2 library paths for linking
-        echo "LD_LIBRARY_PATH=/opt/ros/humble/lib:$LD_LIBRARY_PATH" >> $GITHUB_ENV
-        echo "CMAKE_PREFIX_PATH=/opt/ros/humble:$CMAKE_PREFIX_PATH" >> $GITHUB_ENV
+        github: |
+            - path: google-deepmind/mujoco
+              ref: ${{ steps.mujoco_version.outputs.MUJOCO_VERSION }}
+              options: -DMUJOCO_BUILD_TESTS:BOOL=OFF -DMUJOCO_BUILD_EXAMPLES:BOOL=OFF -DMUJOCO_BUILD_SIMULATE=OFF
     - name: Build and test
       uses: jrl-umi3218/github-actions/build-cmake-project@master
       with:
         compiler: ${{ matrix.compiler }}
         build-type: ${{ matrix.build-type }}
-        options: -DMUJOCO_ROOT_DIR="${{ env.MUJOCO_ROOT_DIR }}"
     - name: Check usage
       shell: bash
       run: |

CMakeLists.txt

@@ -1,108 +1,111 @@
-cmake_minimum_required(VERSION 3.10)
+cmake_minimum_required(VERSION 3.22)
 
-# These variables have to be defined before running setup_project
 set(PROJECT_NAME mc_mujoco)
-set(PROJECT_DESCRIPTION "Mujoco interface for mc-rtc")
-
 set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
-set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
 project(
-  ${PROJECT_NAME}
+  mc_mujoco
   LANGUAGES C CXX
-  VERSION 1.0.0)
-
-# Read MuJoCo version from single source of truth
-file(STRINGS "${CMAKE_SOURCE_DIR}/MUJOCO_VERSION" MUJOCO_VERSION)
-string(STRIP "${MUJOCO_VERSION}" MUJOCO_VERSION)
-
-if(NOT DEFINED MUJOCO_ROOT_DIR)
-  # FetchContent from CMake >= 3.11
-  if(${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.11")
-    set(MUJOCO_DOWNLOAD_DIR "$ENV{HOME}/.mujoco/mujoco-${MUJOCO_VERSION}")
-    message(
-      STATUS
-        "MUJOCO_ROOT_DIR is not provided. Will be automatically downloaded to ${MUJOCO_DOWNLOAD_DIR}."
-    )
-    include(FetchContent)
-    FetchContent_Declare(
-      mujoco
-      URL https://github.com/google-deepmind/mujoco/releases/download/${MUJOCO_VERSION}/mujoco-${MUJOCO_VERSION}-linux-x86_64.tar.gz
-          SOURCE_DIR
-          ${MUJOCO_DOWNLOAD_DIR})
-    FetchContent_MakeAvailable(mujoco)
-    set(MUJOCO_ROOT_DIR "${MUJOCO_DOWNLOAD_DIR}")
-  else()
-    message(
-      FATAL_ERROR
-        "MUJOCO_ROOT_DIR is not provided. Download MuJoCo from mujoco.org and provide MUJOCO_ROOT_DIR."
-    )
-  endif()
-endif()
+  VERSION 1.0.0
+  DESCRIPTION "Mujoco interface for mc-rtc"
+  HOMEPAGE_URL "https://github.com/rohanpsingh/mc_mujoco")
 
-find_package(mc_rtc REQUIRED)
+include(cmake/get-jrl-cmakemodules.cmake)
 
-option(USE_GL "Use Mujoco with OpenGL" ON)
-set(MUJOCO_BIN_DIR "${MUJOCO_ROOT_DIR}/bin")
-set(MUJOCO_INCLUDE_DIR "${MUJOCO_ROOT_DIR}/include")
-if(NOT EXISTS "${MUJOCO_INCLUDE_DIR}/mujoco.h")
-  set(MUJOCO_ROOT_INCLUDE_DIR "${MUJOCO_INCLUDE_DIR}")
-  set(MUJOCO_INCLUDE_DIR "${MUJOCO_INCLUDE_DIR}/mujoco")
-endif()
-set(MUJOCO_LIB_DIR "${MUJOCO_ROOT_DIR}/lib")
-set(MUJOCO_SAMPLE_DIR "${MUJOCO_ROOT_DIR}/sample")
-set(MUJOCO_SIMULATE_DIR "${MUJOCO_ROOT_DIR}/simulate")
-message("${MUJOCO_INCLUDE_DIR}")
-message(STATUS "MuJoCo root dir: " ${MUJOCO_ROOT_DIR})
+jrl_configure_defaults()
 
-set(COMBINED_MC_MUJOCO_LIB OFF)
-# find glfw library
-find_library(
-  GLFW
-  NAMES libglfw.so.3
-  PATHS ${MUJOCO_BIN_DIR}
-  NO_DEFAULT_PATH)
-if(NOT GLFW)
-  if(UNIX)
-    set(COMBINED_MC_MUJOCO_LIB ON)
-  endif()
-  set(BUILD_STATIC
-      ON
-      CACHE BOOL "" FORCE)
-  add_subdirectory(ext/glfw EXCLUDE_FROM_ALL)
-else()
-  message(STATUS "GLFW lib found at: " ${GLFW})
-  file(COPY "${MUJOCO_INCLUDE_DIR}/glfw3.h"
-       DESTINATION "${PROJECT_BINARY_DIR}/src/include/GLFW/")
-endif()
+# This is kept as an option to allow testing building against MuJoCo's official
+# simulate/ folder, should there be updates there However, for consistency we
+# intend to use the bundled ext/mujoco_simulate/simulate folder, that is -
+# currently - a copy of MuJoCo's official relase. We need to bundle our own as
+# MuJoCo's cmake install does not export it, and relying on building it from
+# MuJoCo's source tree is brittle (e.g would require tricks in Nix) When
+# updating MuJoCo, we should check that this bundled version remains up-to-date.
+jrl_option(USE_BUNDLED_SIMULATE_ADAPTER
+           "Whether to use the GLFW adapter bundled with mc_mujoco" ON)
+jrl_option(BUILD_EXAMPLES "Whether to build examples" ON)
+jrl_option(STANDALONE_ROBOTS "Whether to build robots as standalone packages"
+           OFF)
+set(MC_MUJOCO_SHARE_DESTINATION
+    ""
+    CACHE STRING "Install location for mc_mujoco shared files")
 
-set(OpenGL_GL_PREFERENCE "GLVND")
-find_package(OpenGL REQUIRED)
-find_package(GLEW REQUIRED)
+# XXX: this option used to exist, but wasn't doing much except linking against
+# different mujoco libraries gl/nogl, but it seems that mc_mujoco_lib would
+# always link against glfw/opengl anyways, was this used? It would make sense to
+# have the option if we want to run in headless environments, in which case we
+# would most likely want the EGL backend jrl_option(USE_GL "Use Mujoco with
+# OpenGL" ON)
 
-# find mujoco library
-if(USE_GL)
-  file(GLOB LIB_MUJOCO ${MUJOCO_BIN_DIR}/libmujoco[0-9][0-9][0-9].so
-       ${MUJOCO_LIB_DIR}/libmujoco.so.*)
-else()
-  file(GLOB LIB_MUJOCO ${MUJOCO_BIN_DIR}/libmujoco[0-9][0-9][0-9]nogl.so
-       ${MUJOCO_LIB_DIR}/libmujoco_nogl.so.*)
+jrl_find_package(mc_rtc REQUIRED)
+jrl_find_package(mujoco 3.3.6 REQUIRED)
+# TODO: replace with cli11
+jrl_find_package(Boost REQUIRED COMPONENTS program_options)
+
+if(NOT TARGET pugixml::pugixml)
+  jrl_find_package(pugixml QUIET)
+
+  if(pugixml_FOUND)
+    message(STATUS "Found pugixml: ${pugixml_DIR}")
+  else()
+    message(STATUS "pugixml not found, building from source")
+    add_subdirectory(ext/pugixml)
+    FetchContent_Declare(
+      pugixml
+      GIT_REPOSITORY https://github.com/zeux/pugixml.git
+      GIT_TAG v1.15)
+    FetchContent_MakeAvailable(pugixml)
+  endif()
 endif()
-message(STATUS "MuJoCo lib found at: " ${LIB_MUJOCO})
 
-set(MC_MUJOCO_SHARE_DESTINATION "${CMAKE_INSTALL_PREFIX}/share/mc_mujoco")
+get_target_property(MUJOCO_INCLUDE_DIR mujoco::mujoco
+                    INTERFACE_INCLUDE_DIRECTORIES)
+message(STATUS "MuJoCo include directory: ${MUJOCO_INCLUDE_DIR}")
+# remove the last component (`include/`) from the path to get MuJoCo's root path
+# NOTE: this may be a bit brittle should MuJoCo decide to change it's include
+# paths.
+get_filename_component(MUJOCO_ROOT_DIR "${MUJOCO_INCLUDE_DIR}" DIRECTORY)
+set(MUJOCO_ROOT_DIR "${MUJOCO_INCLUDE_DIR}")
+message(STATUS "MuJoCo detected in MUJOCO_ROOT_DIR: ${MUJOCO_ROOT_DIR}")
+set(MUJOCO_SIMULATE_DIR "${MUJOCO_ROOT_DIR}/simulate")
+set(MUJOCO_BIN_DIR "${MUJOCO_ROOT_DIR}/bin")
+if(MUJOCO_SHARE_DESTINATION STREQUAL "")
+  set(MUJOCO_SHARE_DESTINATION "${MUJOCO_ROOT_DIR}/share/mc_mujoco")
+endif()
+# FIXME this won't work under nix as the home path is not available at build
+# time in the sandbox
 if(WIN32)
   set(MC_MUJOCO_USER_DESTINATION "$ENV{APPDATA}/mc_rtc/mc_mujoco")
 else()
   set(MC_MUJOCO_USER_DESTINATION "$ENV{HOME}/.config/mc_rtc/mc_mujoco")
 endif()
 
-add_subdirectory(cmake)
-add_subdirectory(ext/pugixml)
+# TODO check if paths here make sense/are really needed
+configure_file(include/mc_mujoco/config.in.h
+               "${CMAKE_CURRENT_BINARY_DIR}/include/mc_mujoco/config.h")
+
+jrl_find_package(glfw3 REQUIRED)
+set(COMBINED_MC_MUJOCO_LIB OFF)
+
+set(OpenGL_GL_PREFERENCE "GLVND")
+jrl_find_package(OpenGL REQUIRED)
+jrl_find_package(GLEW REQUIRED)
+jrl_find_package(mc_rtc-imgui REQUIRED)
+jrl_find_package(ImGuizmo REQUIRED)
+
 add_subdirectory(src)
-add_subdirectory(robots)
 
-add_subdirectory(examples)
+# FIXME: re-add env robots
+if(NOT STANDALONE_ROBOTS)
+  add_subdirectory(robots)
+endif()
+
+if(BUILD_EXAMPLES)
+  add_subdirectory(examples)
+endif()
+
+# Exporting targets and installing
+jrl_export_package()
 
-enable_testing()
+# jrl_print_dependencies_summary()
+jrl_print_options_summary()

cmake/get-jrl-cmakemodules.cmake

@@ -0,0 +1,52 @@
+# Get jrl-cmakemodules package
+
+# Option 1: pass -DJRL_CMAKEMODULES_SOURCE_DIR=... to cmake command line
+if(JRL_CMAKEMODULES_SOURCE_DIR)
+  message(
+    DEBUG
+    "JRL_CMAKEMODULES_SOURCE_DIR variable set, adding jrl-cmakemodules from source directory: ${JRL_CMAKEMODULES_SOURCE_DIR}"
+  )
+  add_subdirectory(${JRL_CMAKEMODULES_SOURCE_DIR} jrl-cmakemodules)
+  return()
+endif()
+
+# Option 2: use JRL_CMAKEMODULES_SOURCE_DIR environment variable (pixi might
+# unset it, prefer option 1)
+if(ENV{JRL_CMAKEMODULES_SOURCE_DIR})
+  message(
+    DEBUG
+    "JRL_CMAKEMODULES_SOURCE_DIR environement variable set, adding jrl-cmakemodules from source directory: ${JRL_CMAKEMODULES_SOURCE_DIR}"
+  )
+  add_subdirectory(${JRL_CMAKEMODULES_SOURCE_DIR} jrl-cmakemodules)
+  return()
+endif()
+
+# Try to look for the installed package
+message(DEBUG "Looking for jrl-cmakemodules using find_package().")
+find_package(jrl-cmakemodules 1.2.0 CONFIG QUIET)
+
+# If we have the package, we are done.
+if(jrl-cmakemodules_FOUND)
+  message(DEBUG "Found jrl-cmakemodules package via find_package().")
+  return()
+else()
+  message(DEBUG "jrl-cmakemodules package not found using find_package().")
+endif()
+
+# Fallback to FetchContent if not found
+set(JRL_GIT_REPOSITORY "https://github.com/ahoarau/jrl-cmakemodules.git")
+set(JRL_GIT_TAG "jrl-next")
+
+message(
+  DEBUG
+  "Fetching jrl-cmakemodules using FetchContent:
+  GIT_REPOSITORY: ${JRL_GIT_REPOSITORY}
+  GIT_TAG       : ${JRL_GIT_TAG}
+")
+
+include(FetchContent)
+FetchContent_Declare(
+  jrl-cmakemodules
+  GIT_REPOSITORY ${JRL_GIT_REPOSITORY}
+  GIT_TAG ${JRL_GIT_TAG})
+FetchContent_MakeAvailable(jrl-cmakemodules)