mujoco: add package

[star-hengxing]

No description provided.

[gemini-code-assist]

Summary of Changes

Hello @star-hengxing, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

This pull request integrates the MuJoCo physics simulator as a new package, providing a robust and configurable build process. It defines all necessary metadata, manages a wide array of dependencies, and includes custom modifications to MuJoCo's CMake build scripts to ensure seamless compilation and linking within the xmake environment. This enables users to easily build MuJoCo with optional features like simulation and OpenUSD support.

Highlights

• New Package Introduction: This pull request introduces a new package definition for MuJoCo (Multi-Joint dynamics with Contact), a general-purpose physics simulator, into the build system.
• Configurable Build Options: The MuJoCo package now supports configurable build options for including the simulate library and integrating with OpenUSD, allowing users to tailor the build to their specific needs.
• Dependency Management: Comprehensive dependency management has been implemented, including cmake, pkgconf/pkg-config, libccd, lodepng, qhull, tinyobjloader, tinyxml2, trianglemeshdistance, and marchingcubecpp, with conditional dependencies for usd and glfw based on build configurations.
• Custom CMake Adjustments: The on_install function includes several io.replace operations and appended CMake logic to modify MuJoCo's original CMake files, ensuring proper linking, compilation, and integration with external dependencies provided by the build system.

Using Gemini Code Assist

The full guide for Gemini Code Assist can be found on our documentation page, here are some quick tips.

Invoking Gemini

You can request assistance from Gemini at any point by creating a comment using either /gemini <command> or @gemini-code-assist <command>. Below is a summary of the supported commands on the current page.

Feature	Command	Description
Code Review	/gemini review	Performs a code review for the current pull request in its current state.
Pull Request Summary	/gemini summary	Provides a summary of the current pull request in its current state.
Comment	@gemini-code-assist	Responds in comments when explicitly tagged, both in pull request comments and review comments.
Help	/gemini help	Displays a list of available commands.

Customization

To customize Gemini Code Assist for GitHub experience, repository maintainers can create a configuration file and/or provide a custom code review style guide (such as PEP-8 for Python) by creating and adding files to a .gemini/ folder in the base of the repository. Detailed instructions can be found here.

Limitations & Feedback

Gemini Code Assist may make mistakes. Please leave feedback on any instances where its feedback is incorrect or counter productive. You can react with 👍 and 👎 on @gemini-code-assist comments. If you're interested in giving your feedback about your experience with Gemini Code Assist for Github and other Google products, sign up here.

You can also get AI-powered code generation, chat, as well as code reviews directly in the IDE at no cost with the Gemini Code Assist IDE Extension.

Footnotes

1. Review the Privacy Notices, Generative AI Prohibited Use Policy, Terms of Service, and learn how to configure Gemini Code Assist in GitHub here. Gemini can make mistakes, so double check it and use code with caution. ↩

[gemini-code-assist]

Code Review

This pull request adds a new package for mujoco. The implementation is mostly correct, but there are a few issues that need to be addressed. The homepage URL is incorrect. There are also a couple of linking issues in the generated CMake scripts: one for the qhull dependency and another for linking glfw to the simulate library. I've left specific comments with suggestions to fix these.

[dzylikecode]

ubuntu@ubuntu:~/Desktop/dog/mujoco/src$ xmake -y
  => install mujoco 3.4.0 .. failed

CMake Error at /usr/share/cmake-4.2/Modules/FindPkgConfig.cmake:1203 (message):
  None of the required 'lodepng' found
Call Stack (most recent call first):
  CMakeLists.txt:311 (pkg_search_module)
CMake Error at CMakeLists.txt:313 (find_package):
  Could not find a package configuration file provided by "tinyobjloader"
  with any of the following names:
    tinyobjloaderConfig.cmake
    tinyobjloader-config.cmake
  Add the installation prefix of "tinyobjloader" to CMAKE_PREFIX_PATH or set
  "tinyobjloader_DIR" to a directory containing one of the above files.  If
  "tinyobjloader" provides a separate development package or SDK, be sure it
  has been installed.
PPORTS_GOLD
-- Performing Test SUPPORTS_GOLD - Success
-- Performing Test SUPPORTS_GC_SECTIONS
-- Performing Test SUPPORTS_GC_SECTIONS - Success
if you want to get more verbose errors, please see:
  -> /home/ubuntu/.xmake/cache/packages/2512/m/mujoco/3.4.0/installdir.failed/logs/install.txt
error: install failed!

为什么我测试是失败的，但是我看到lua里面由 add_deps 这两个包

[star-hengxing]

有可能 xmake fetch 到了系统包管理或者 vcpkg/conan 的 tinyobjloader，完整 log 应该会有显示，设置 policy package.install_only 强制所有包都远程安装再试试。

或者有可能是升级 xmake 把所有库重新安装，cmake config file 的自动生成在低版本有一些 bug。

[dzylikecode]

okay, 非常感谢。

请问有什么方式可以联系你吗

[star-hengxing]

https://xmake.io/about/contact.html

[dzylikecode]

好吧，之前给你发过邮件

[Issues-translate-bot]

Bot detected the issue body's language is not English, translate it automatically.

---

It is possible that xmake fetch has reached the system package management or the tinyobjloader of vcpkg/conan. The complete log should be displayed. Set policy package.install_only to force all packages to be installed remotely and try again.

[Issues-translate-bot]

Bot detected the issue body's language is not English, translate it automatically.

---

okay, thank you very much.

Is there any way I can contact you?

[Issues-translate-bot]

Bot detected the issue body's language is not English, translate it automatically.

---

Okay, I've emailed you before.