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The new release of MuJoCo wants the build library to be /path/to/mujo… #667

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The new release of MuJoCo wants the build library to be /path/to/mujo… #667

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18 changes: 9 additions & 9 deletions mujoco_py/builder.py
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Original file line number Diff line number Diff line change
Expand Up @@ -213,8 +213,8 @@ def __init__(self, mujoco_path):
join(mujoco_path, 'include'),
np.get_include(),
],
libraries=['mujoco210'],
library_dirs=[join(mujoco_path, 'bin')],
libraries=['mujoco'],
library_dirs=[join(mujoco_path, 'lib')],
extra_compile_args=[
'-fopenmp', # needed for OpenMP
'-w', # suppress numpy compilation warnings
Expand Down Expand Up @@ -272,12 +272,12 @@ def __init__(self, mujoco_path):
self.extension.sources.append(
join(self.CYMJ_DIR_PATH, "gl", "osmesashim.c"))
self.extension.libraries.extend(['glewosmesa', 'OSMesa', 'GL'])
self.extension.runtime_library_dirs = [join(mujoco_path, 'bin')]
self.extension.runtime_library_dirs = [join(mujoco_path, 'lib')]

def _build_impl(self):
so_file_path = super()._build_impl()
# Removes absolute paths to libraries. Allows for dynamic loading.
fix_shared_library(so_file_path, 'libmujoco210.so', 'libmujoco210.so')
fix_shared_library(so_file_path, 'libmujoco.so', 'libmujoco.so')
fix_shared_library(so_file_path, 'libglewosmesa.so', 'libglewosmesa.so')
return so_file_path

Expand All @@ -290,13 +290,13 @@ def __init__(self, mujoco_path):
self.extension.sources.append(self.CYMJ_DIR_PATH + "/gl/eglshim.c")
self.extension.include_dirs.append(self.CYMJ_DIR_PATH + '/vendor/egl')
self.extension.libraries.extend(['glewegl'])
self.extension.runtime_library_dirs = [join(mujoco_path, 'bin')]
self.extension.runtime_library_dirs = [join(mujoco_path, 'lib')]

def _build_impl(self):
so_file_path = super()._build_impl()
fix_shared_library(so_file_path, 'libOpenGL.so', 'libOpenGL.so.0')
fix_shared_library(so_file_path, 'libEGL.so', 'libEGL.so.1')
fix_shared_library(so_file_path, 'libmujoco210.so', 'libmujoco210.so')
fix_shared_library(so_file_path, 'libmujoco.so', 'libmujoco.so')
fix_shared_library(so_file_path, 'libglewegl.so', 'libglewegl.so')
return so_file_path

Expand All @@ -309,7 +309,7 @@ def __init__(self, mujoco_path):
self.extension.sources.append(self.CYMJ_DIR_PATH + "/gl/dummyshim.c")
self.extension.libraries.extend(['glfw.3'])
self.extension.define_macros = [('ONMAC', None)]
self.extension.runtime_library_dirs = [join(mujoco_path, 'bin')]
self.extension.runtime_library_dirs = [join(mujoco_path, 'lib')]

def _build_impl(self):
if not os.environ.get('CC'):
Expand Down Expand Up @@ -482,8 +482,8 @@ def build_callback_fn(function_string, userdata_names=[]):
# Link against mujoco so we can call mujoco functions from within callback
ffibuilder.set_source(name, source_string,
include_dirs=[join(mujoco_path, 'include')],
library_dirs=[join(mujoco_path, 'bin')],
libraries=['mujoco210'])
library_dirs=[join(mujoco_path, 'lib')],
libraries=['mujoco'])
# Catch compilation exceptions so we can cleanup partial files in that case
try:
library_path = ffibuilder.compile(verbose=True)
Expand Down