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diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt
index 21ad154..42f6599 100644
--- a/python/mujoco/CMakeLists.txt
+++ b/python/mujoco/CMakeLists.txt
@@ -132,7 +132,7 @@ endif()
set(MUJOCO_PYTHON_ABSL_TARGETS absl::core_headers absl::flat_hash_map absl::span)
findorfetch(
USE_SYSTEM_PACKAGE
- OFF
+ ON
PACKAGE_NAME
absl
LIBRARY_NAME
@@ -165,7 +165,7 @@ endforeach()
add_compile_definitions(EIGEN_MPL2_ONLY)
findorfetch(
USE_SYSTEM_PACKAGE
- OFF
+ ON
PACKAGE_NAME
Eigen3
LIBRARY_NAME
@@ -182,7 +182,7 @@ findorfetch(
# ==================== PYBIND11 ================================================
findorfetch(
USE_SYSTEM_PACKAGE
- OFF
+ ON
PACKAGE_NAME
pybind11
LIBRARY_NAME
diff --git a/python/mujoco/__init__.py b/python/mujoco/__init__.py
index d9e0e5c..9bf244e 100644
--- a/python/mujoco/__init__.py
+++ b/python/mujoco/__init__.py
@@ -47,8 +47,8 @@ from mujoco._structs import *
from mujoco.gl_context import *
from mujoco.renderer import Renderer
-HEADERS_DIR = os.path.join(os.path.dirname(__file__), 'include/mujoco')
-PLUGINS_DIR = os.path.join(os.path.dirname(__file__), 'plugin')
+HEADERS_DIR = '/usr/include/mujoco'
+PLUGINS_DIR = '/usr/lib/mujoco/plugins'
PLUGIN_HANDLES = []
diff --git a/python/setup.py b/python/setup.py
index bafabfc..e11aa17 100644
--- a/python/setup.py
+++ b/python/setup.py
@@ -153,15 +153,15 @@ class BuildCMakeExtension(build_ext.build_ext):
(self._mujoco_library_path,
self._mujoco_include_path,
self._mujoco_plugins_path,
- self._mujoco_framework_path) = self._find_mujoco()
+ self._mujoco_framework_path) = "/usr/lib","/usr/include/mujoco","/usr/lib/mujoco/plugins",None
self._configure_cmake()
for ext in self.extensions:
assert ext.name.startswith(EXT_PREFIX)
assert '.' not in ext.name[len(EXT_PREFIX):]
self.build_extension(ext)
- self._copy_external_libraries()
- self._copy_mujoco_headers()
- self._copy_plugin_libraries()
+ #self._copy_external_libraries()
+ #self._copy_mujoco_headers()
+ #self._copy_plugin_libraries()
if self._is_apple:
self._copy_mjpython()
diff --git a/simulate/CMakeLists.txt b/simulate/CMakeLists.txt
index 2358ef7..cae4aa4 100644
--- a/simulate/CMakeLists.txt
+++ b/simulate/CMakeLists.txt
@@ -80,6 +80,7 @@ if(MUJOCO_HARDEN)
endif()
# Fetch lodepng dependency.
+find_package(lodepng REQUIRED)
if(NOT TARGET lodepng)
FetchContent_Declare(
lodepng
@@ -114,8 +115,13 @@ if(APPLE)
endif()
target_include_directories(
platform_ui_adapter PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
- $<TARGET_PROPERTY:glfw,INTERFACE_INCLUDE_DIRECTORIES>
)
+# Upstream MuJoCo is carefully not linking glfw here, and so it is just include its directories
+# to avoid dealing with two copies of glfw. In conda-forge (or in any C++/Python distribution)
+# pyglfw will depend on the same glfw copy linked here, so we can just link glfw normally
+# This avoids the tricky cmake bug https://gitlab.kitware.com/cmake/cmake/-/issues/19072
+# target_include_directories(platform_ui_adapter PUBLIC glfw)
+target_link_libraries(platform_ui_adapter PUBLIC glfw)
target_link_libraries(platform_ui_adapter PUBLIC mujoco::mujoco)
if(SIMULATE_GLFW_DYNAMIC_SYMBOLS)
target_compile_definitions(platform_ui_adapter PUBLIC mjGLFW_DYNAMIC_SYMBOLS)
diff --git a/simulate/cmake/SimulateDependencies.cmake b/simulate/cmake/SimulateDependencies.cmake
index fa539c2..eb0b95a 100644
--- a/simulate/cmake/SimulateDependencies.cmake
+++ b/simulate/cmake/SimulateDependencies.cmake
@@ -22,12 +22,12 @@ else()
endif()
option(MUJOCO_SIMULATE_USE_SYSTEM_MUJOCO "Use installed MuJoCo version."
- ${DEFAULT_USE_SYSTEM_MUJOCO}
+ ON
)
unset(DEFAULT_USE_SYSTEM_MUJOCO)
-option(MUJOCO_SIMULATE_USE_SYSTEM_MUJOCO "Use installed MuJoCo version." OFF)
-option(MUJOCO_SIMULATE_USE_SYSTEM_GLFW "Use installed GLFW version." OFF)
+option(MUJOCO_SIMULATE_USE_SYSTEM_MUJOCO "Use installed MuJoCo version." ON)
+option(MUJOCO_SIMULATE_USE_SYSTEM_GLFW "Use installed GLFW version." ON)
set(MUJOCO_DEP_VERSION_glfw3
7482de6071d21db77a7236155da44c172a7f6c9e # 3.3.8
@@ -59,7 +59,7 @@ findorfetch(
)
option(MUJOCO_EXTRAS_STATIC_GLFW
- "Link MuJoCo sample apps and simulate libraries against GLFW statically." ON
+ "Link MuJoCo sample apps and simulate libraries against GLFW statically." OFF
)
if(MUJOCO_EXTRAS_STATIC_GLFW)
set(BUILD_SHARED_LIBS_OLD ${BUILD_SHARED_LIBS})
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