{lib,phys}[GCCcore/13.2.0,gfbf/2023b] MuJoCo v3.3.0, python-mujoco v3.3.0

easybuild/easyconfigs/m/MuJoCo/MuJoCo-3.3.0-GCCcore-13.2.0.eb

@@ -0,0 +1,91 @@
+easyblock = 'CMakeMake'
+
+name = 'MuJoCo'
+version = '3.3.0'
+
+homepage = 'https://mujoco.org/'
+description = """MuJoCo stands for Multi-Joint dynamics with Contact. It is a general purpose
+physics engine that aims to facilitate research and development in robotics,
+biomechanics, graphics and animation, machine learning, and other areas which
+demand fast and accurate simulation of articulated structures interacting with
+their environment."""
+
+toolchain = {'name': 'GCCcore', 'version': '13.2.0'}
+
+source_urls = ['https://github.com/google-deepmind/mujoco/archive/refs/tags']
+
+# Sources otherwise downloaded by CMake FetchContent
+local_extract_cmd_tmpl = "mkdir -p _deps/{0} && tar --strip-components=1 -C _deps/{0} -xf %s"
+sources = [
+    '%(version)s.tar.gz',
+    # Hashes from MUJOCO_DEP_VERSION_* in cmake/MujocoDependencies.cmake
+    {
+        'source_urls': ['https://github.com/danfis/libccd/archive'],
+        'filename': '7931e764a19ef6b21b443376c699bbc9c6d4fba8.tar.gz',
+        'extract_cmd': local_extract_cmd_tmpl.format('ccd-src'),
+    },
+    {
+        'source_urls': ['https://github.com/lvandeve/lodepng/archive'],
+        'filename': 'b4ed2cd7ecf61d29076169b49199371456d4f90b.tar.gz',
+        'extract_cmd': local_extract_cmd_tmpl.format('lodepng-src'),
+    },
+    {
+        'source_urls': ['https://github.com/aparis69/MarchingCubeCpp/archive'],
+        'filename': 'f03a1b3ec29b1d7d865691ca8aea4f1eb2c2873d.tar.gz',
+        'extract_cmd': local_extract_cmd_tmpl.format('marchingcubecpp-src'),
+    },
+]
+patches = [
+    'MuJoCo-3.3.0_use_eb_deps.patch',
+]
+checksums = [
+    {'3.3.0.tar.gz': '608cd202ac5066096fdc7e5adb322aca2fe7b4d118543a7c4b54dc183a6b3b54'},
+    {'7931e764a19ef6b21b443376c699bbc9c6d4fba8.tar.gz':
+     '479994a86d32e2effcaad64204142000ee6b6b291fd1859ac6710aee8d00a482'},
+    {'b4ed2cd7ecf61d29076169b49199371456d4f90b.tar.gz':
+     'b67e466ba659c07ac775d07dbd97af319cde449ce14abed9ae596df29d888603'},
+    {'f03a1b3ec29b1d7d865691ca8aea4f1eb2c2873d.tar.gz':
+     '227c10b2cffe886454b92a0e9ef9f0c9e8e001d00ea156cc37c8fc43055c9ca6'},
+    {'MuJoCo-3.3.0_use_eb_deps.patch': 'd60c4f78f5f59c8fc43c1e9e93580806b86bcd17507c1030e831bece17fbd710'},
+]
+
+builddependencies = [
+    ('binutils', '2.40'),
+    ('CMake', '3.27.6'),
+    ('googlebenchmark', '1.9.1'),
+    ('googletest', '1.14.0'),
+]
+dependencies = [
+    ('Abseil', '20240116.1'),
+    ('GLFW', '3.4'),
+    ('Qhull', '2020.2'),
+    ('SdfLib', '20250125'),
+    ('tinyobjloader', '2.0.0rc13'),
+    ('TinyXML-2', '11.0.0'),
+    ('X11', '20231019'),
+]
+
+build_shared_libs = True
+# Avoid test failure due to different vectorization between C/C++
+# see https://github.com/google-deepmind/mujoco/issues/2515
+preconfigopts = 'CXXFLAGS="$CXXFLAGS -ffp-contract=off" '
+
+configopts = ' '.join([
+    '-DMUJOCO_SAMPLES_USE_SYSTEM_GLFW=ON',
+    '-DMUJOCO_SIMULATE_USE_SYSTEM_GLFW=ON',
+    '-DMUJOCO_TEST_PYTHON_UTIL=OFF',
+    '-DFETCHCONTENT_FULLY_DISCONNECTED=ON',
+    '-DFETCHCONTENT_BASE_DIR=%(builddir)s/_deps',
+])
+
+runtest = True
+
+sanity_check_paths = {
+    'files': ['bin/basic', 'bin/record', 'bin/simulate',
+              'lib/libmujoco.%s' % SHLIB_EXT],
+    'dirs': ['bin', 'include', 'share/mujoco/model'],
+}
+
+sanity_check_commands = ['basic']
+
+moduleclass = 'phys'

easybuild/easyconfigs/m/MuJoCo/MuJoCo-3.3.0_use_eb_deps.patch

@@ -0,0 +1,127 @@
+Use "System packages" aka our installed modules
+
+Author: Alexander Grund (TU Dresden)
+
+diff -ur mujoco-orig/cmake/MujocoDependencies.cmake mujoco-3.3.0/cmake/MujocoDependencies.cmake
+--- mujoco-orig/cmake/MujocoDependencies.cmake	2025-03-18 17:34:53.241471506 +0100
++++ mujoco-3.3.0/cmake/MujocoDependencies.cmake	2025-03-18 17:36:46.337021313 +0100
+@@ -128,9 +128,9 @@
+
+ findorfetch(
+   USE_SYSTEM_PACKAGE
+-  OFF
++  ON
+   PACKAGE_NAME
+-  qhull
++  Qhull
+   LIBRARY_NAME
+   qhull
+   GIT_REPO
+@@ -138,21 +138,26 @@
+   GIT_TAG
+   ${MUJOCO_DEP_VERSION_qhull}
+   TARGETS
+-  qhull
++  Qhull::qhull
+   EXCLUDE_FROM_ALL
+ )
+ # MuJoCo includes a file from libqhull_r which is not exported by the qhull include directories.
+ # Add it to the target.
+-target_include_directories(
+-  qhullstatic_r INTERFACE $<BUILD_INTERFACE:${qhull_SOURCE_DIR}/src/libqhull_r>
+-)
+-target_compile_options(qhullstatic_r PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
+-target_link_options(qhullstatic_r PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
++    add_library(qhullstatic_r INTERFACE)
++    set_target_properties(qhullstatic_r PROPERTIES INTERFACE_LINK_LIBRARIES Qhull::qhull_r)
++
++    # Workaround as headers are installed in <prefix>/include/libqhull_r/something.h
++    # but mujoco include them as #include <something.h>
++    get_property(qhull_include_dirs TARGET Qhull::qhull_r PROPERTY INTERFACE_INCLUDE_DIRECTORIES)
++    foreach(qhull_include_dir IN LISTS qhull_include_dirs)
++      target_include_directories(qhullstatic_r INTERFACE ${qhull_include_dirs}/libqhull_r)
++    endforeach()
++    target_include_directories(qhullstatic_r INTERFACE )
+
+ set(tinyxml2_BUILD_TESTING OFF)
+ findorfetch(
+   USE_SYSTEM_PACKAGE
+-  OFF
++  ON
+   PACKAGE_NAME
+   tinyxml2
+   LIBRARY_NAME
+@@ -162,15 +167,13 @@
+   GIT_TAG
+   ${MUJOCO_DEP_VERSION_tinyxml2}
+   TARGETS
+-  tinyxml2
++  tinyxml2::tinyxml2
+   EXCLUDE_FROM_ALL
+ )
+-target_compile_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
+-target_link_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
+
+ findorfetch(
+   USE_SYSTEM_PACKAGE
+-  OFF
++  ON
+   PACKAGE_NAME
+   tinyobjloader
+   LIBRARY_NAME
+@@ -183,15 +186,16 @@
+   tinyobjloader
+   EXCLUDE_FROM_ALL
+ )
++add_library(tinyobjloader ALIAS tinyobjloader::tinyobjloader)
+
+ option(SDFLIB_USE_ASSIMP OFF)
+ option(SDFLIB_USE_OPENMP OFF)
+ option(SDFLIB_USE_ENOKI OFF)
+ findorfetch(
+   USE_SYSTEM_PACKAGE
+-  OFF
++  ON
+   PACKAGE_NAME
+-  sdflib
++  SdfLib
+   LIBRARY_NAME
+   sdflib
+   GIT_REPO
+@@ -202,8 +206,7 @@
+   SdfLib
+   EXCLUDE_FROM_ALL
+ )
+-target_compile_options(SdfLib PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
+-target_link_options(SdfLib PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
++add_library(SdfLib ALIAS SdfLib::SdfLib)
+
+ set(ENABLE_DOUBLE_PRECISION ON)
+ set(CCD_HIDE_ALL_SYMBOLS ON)
+@@ -249,7 +252,7 @@
+   set(ABSL_BUILD_TESTING OFF)
+   findorfetch(
+     USE_SYSTEM_PACKAGE
+-    OFF
++    ON
+     PACKAGE_NAME
+     absl
+     LIBRARY_NAME
+@@ -276,7 +279,7 @@
+
+   findorfetch(
+     USE_SYSTEM_PACKAGE
+-    OFF
++    ON
+     PACKAGE_NAME
+     GTest
+     LIBRARY_NAME
+@@ -310,7 +313,7 @@
+
+   findorfetch(
+     USE_SYSTEM_PACKAGE
+-    OFF
++    ON
+     PACKAGE_NAME
+     benchmark
+     LIBRARY_NAME

easybuild/easyconfigs/p/python-mujoco/python-mujoco-3.3.0-gfbf-2023b.eb

@@ -0,0 +1,70 @@
+easyblock = 'PythonPackage'
+
+name = 'python-mujoco'
+version = '3.3.0'
+
+homepage = 'https://www.mujoco.org'
+description = """
+This package is the canonical Python bindings for the MuJoCo physics engine.
+The mujoco package provides direct access to raw MuJoCo C API functions, structs,
+constants, and enumerations. Structs are provided as Python classes, with
+Pythonic initialization and deletion semantics.
+"""
+
+toolchain = {'name': 'gfbf', 'version': '2023b'}
+
+builddependencies = [
+    ('Eigen', '3.4.0'),
+    ('pybind11', '2.11.1'),
+    ('CMake', '3.27.6'),
+]
+
+dependencies = [
+    ('Python', '3.11.5'),
+    ('absl-py', '2.1.0'),
+    ('etils', '1.12.2'),
+    ('python-glfw', '2.8.0'),
+    ('MuJoCo', '3.3.0'),
+    ('PyOpenGL', '3.1.9'),
+    ('SciPy-bundle', '2023.11'),
+]
+
+
+options = {'modulename': 'mujoco'}
+source_urls = ['https://pypi.python.org/packages/source/m/mujoco']
+local_extract_cmd_tmpl = "mkdir -p %(builddir)s/_deps/{0} && tar --strip-components=1 -C %(builddir)s/_deps/{0} -xf %s"
+sources = [
+    'mujoco-%(version)s.tar.gz',
+    # Hashes from MUJOCO_DEP_VERSION_* in mujoco/simulate/CMakeLists.txt
+    {
+        'source_urls': ['https://github.com/lvandeve/lodepng/archive'],
+        'filename': 'b4ed2cd7ecf61d29076169b49199371456d4f90b.tar.gz',
+        'extract_cmd': local_extract_cmd_tmpl.format('lodepng-src'),
+    },
+]
+patches = [
+    'python-mujoco-3.3.0_fix-ogl-use-after-free.patch',
+    'python-mujoco-3.3.0_use_eb_deps.patch',
+]
+checksums = [
+    {'mujoco-3.3.0.tar.gz': '0fb12ab715bc2b6d2394a6330b8c3a1dd95b0f3ba812bfe4f6c91e0a1ca3ad0f'},
+    {'b4ed2cd7ecf61d29076169b49199371456d4f90b.tar.gz':
+     'b67e466ba659c07ac775d07dbd97af319cde449ce14abed9ae596df29d888603'},
+    {'python-mujoco-3.3.0_fix-ogl-use-after-free.patch':
+     'a0098aa9633ec3849ded3d886c957c5802a872f74970bdc5456020cd6ccc86d9'},
+    {'python-mujoco-3.3.0_use_eb_deps.patch': 'bed192acb9aab3d9dbd674c0faafc981a92791385dac300cca5ca80d7ca04991'},
+]
+
+local_cmake_opts = ' '.join([
+    '-DFETCHCONTENT_FULLY_DISCONNECTED=ON',
+    '-DFETCHCONTENT_BASE_DIR=%(builddir)s/_deps',
+    '-DMUJOCO_PYTHON_USE_SYSTEM_PYBIND11=ON',
+    '-DMUJOCO_SIMULATE_USE_SYSTEM_MUJOCO=ON',
+    '-DMUJOCO_SIMULATE_USE_SYSTEM_GLFW=ON',
+])
+
+prebuildopts = 'MUJOCO_PATH="$EBROOTMUJOCO" MUJOCO_PLUGIN_PATH="$EBROOTMUJOCO/bin/mujoco_plugin"'
+prebuildopts += f' MUJOCO_CMAKE_ARGS="{local_cmake_opts}"'
+preinstallopts = prebuildopts
+
+moduleclass = 'lib'

easybuild/easyconfigs/p/python-mujoco/python-mujoco-3.3.0_fix-ogl-use-after-free.patch

@@ -0,0 +1,45 @@
+Fix an error during shutdown:
+
+> Exception ignored in: <function GLContext.__del__ at 0x7f816b140cc0>
+> ...
+> OpenGL.raw.EGL._errors.EGLError: <exception str() failed>
+
+See https://github.com/google-deepmind/mujoco/pull/2510
+
+Author: Alexander Grund (TU Dresden)
+
+diff --git a/python/mujoco/egl/__init__.py b/python/mujoco/egl/__init__.py
+index 832c11081c..2a9a4468a2 100644
+--- a/python/mujoco/egl/__init__.py
++++ b/python/mujoco/egl/__init__.py
+@@ -65,6 +65,12 @@ def create_initialized_egl_device_display():
+ EGL_DISPLAY = None
+
+
++def _free_display():
++    global EGL_DISPLAY
++    EGL.eglTerminate(EGL_DISPLAY)
++    EGL_DISPLAY = None
++
++
+ EGL_ATTRIBUTES = (
+     EGL.EGL_RED_SIZE, 8,
+     EGL.EGL_GREEN_SIZE, 8,
+@@ -99,7 +105,7 @@ def __init__(self, max_width, max_height):
+           "driver does not support the PLATFORM_DEVICE extension, which is "
+           "required for creating a headless rendering context."
+         )
+-      atexit.register(EGL.eglTerminate, EGL_DISPLAY)
++      atexit.register(_free_display)
+     EGL.eglChooseConfig(
+         EGL_DISPLAY,
+         EGL_ATTRIBUTES,
+@@ -125,7 +131,7 @@ def make_current(self):
+   def free(self):
+     """Frees resources associated with this context."""
+     global EGL_DISPLAY
+-    if self._context:
++    if EGL_DISPLAY and self._context:
+       current_context = EGL.eglGetCurrentContext()
+       if current_context and self._context.address == current_context.address:
+         EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE,

easybuild/easyconfigs/p/python-mujoco/python-mujoco-3.3.0_use_eb_deps.patch

@@ -0,0 +1,22 @@
+Use EasyBuild provided dependencies
+Author (update): Alexander Grund (TU Dresden)
+--- mujoco-3.1.4.orig/mujoco/CMakeLists.txt	2024-04-17 15:42:21.449694000 +0200
++++ mujoco-3.1.4/mujoco/CMakeLists.txt	2024-04-17 15:43:56.347482395 +0200
+@@ -132,7 +132,7 @@
+ 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 @@
+ add_compile_definitions(EIGEN_MPL2_ONLY)
+ findorfetch(
+   USE_SYSTEM_PACKAGE
+-  OFF
++  ON
+   PACKAGE_NAME
+   Eigen3
+   LIBRARY_NAME