fix: mujoco not found in make commands

Author: juelg

.github/workflows/cpp.yaml

@@ -19,12 +19,13 @@ jobs:
       - name: Check clang format
         run: make cppcheckformat
       - name: Set up Python 3.11
+        id: setup-python
         uses: actions/setup-python@v5
         with:
           python-version: "3.11"
           cache: "pip"
       - name: Clang build
-        run: make clangcompile
+        run: make clangcompile PYTHON_EXECUTABLE=${{ steps.setup-python.outputs.python-path }}
       - name: Clang Tidy
         run: clang-tidy -p=build --warnings-as-errors='*' $(find src -name '*.cpp' -o -name '*.cc' -name '*.h')
 
@@ -35,9 +36,10 @@ jobs:
       - name: Install dependencies
         run: sudo apt install $(cat debian_deps.txt)
       - name: Set up Python 3.11
+        id: setup-python
         uses: actions/setup-python@v5
         with:
           python-version: "3.11"
           cache: "pip"
       - name: GCC build
-        run: make gcccompile
+        run: make gcccompile PYTHON_EXECUTABLE=${{ steps.setup-python.outputs.python-path }}

Makefile

@@ -19,12 +19,12 @@ cpplint:
 
 gcccompile: 
 	pip install --upgrade --requirement requirements_dev.txt
-	cmake -DCMAKE_BUILD_TYPE=${COMPILE_MODE} -DCMAKE_C_COMPILER=gcc -DCMAKE_CXX_COMPILER=g++ -B build -G Ninja
+	cmake -DCMAKE_BUILD_TYPE=${COMPILE_MODE} -DCMAKE_C_COMPILER=gcc -DCMAKE_CXX_COMPILER=g++ -B build -G Ninja $(if ${PYTHON_EXECUTABLE},-DPython3_EXECUTABLE=${PYTHON_EXECUTABLE})
 	cmake --build build --target _core
 
 clangcompile: 
 	pip install --upgrade --requirement requirements_dev.txt
-	cmake -DCMAKE_BUILD_TYPE=${COMPILE_MODE} -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++ -B build -G Ninja
+	cmake -DCMAKE_BUILD_TYPE=${COMPILE_MODE} -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++ -B build -G Ninja $(if ${PYTHON_EXECUTABLE},-DPython3_EXECUTABLE=${PYTHON_EXECUTABLE})
 	cmake --build build --target _core
 
 # Auto generation of CPP binding stub files

cmake/FindMuJoCo.cmake

@@ -2,28 +2,47 @@ if (NOT MuJoCo_FOUND)
     if (NOT Python3_FOUND)
         set(MuJoCo_FOUND FALSE)
         if (MuJoCo_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find MuJoCo. Please install MuJoCo using pip.")
+            message(FATAL_ERROR "Could not find MuJoCo. Please install MuJoCo using pip 1.")
         endif()
         return()
     endif()
 
-    # Check if the include directory exists
-    cmake_path(APPEND Python3_SITELIB mujoco include OUTPUT_VARIABLE MuJoCo_INCLUDE_DIRS)
+    # Get MuJoCo path from python
+    execute_process(
+        COMMAND ${Python3_EXECUTABLE} -c "import mujoco; print(mujoco.__path__[0])"
+        OUTPUT_VARIABLE MUJOCO_PATH
+        ERROR_VARIABLE MUJOCO_PYTHON_ERROR
+        RESULT_VARIABLE MUJOCO_PYTHON_RESULT
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+    )
+
+    if (MUJOCO_PYTHON_RESULT)
+        message(STATUS "Python command failed with result: ${MUJOCO_PYTHON_RESULT}")
+        message(STATUS "Python command stderr: ${MUJOCO_PYTHON_ERROR}")
+    endif()
+
+    if (NOT MUJOCO_PATH)
+        set(MuJoCo_FOUND FALSE)
+        if (MuJoCo_FIND_REQUIRED)
+            message(FATAL_ERROR "Could not find MuJoCo. MUJOCO_PATH is empty. Python command output: '${MUJOCO_PATH}'. Python command error: '${MUJOCO_PYTHON_ERROR}'. Please install MuJoCo using pip 2.")
+        endif()
+        return()
+    endif()
+
+    set(MuJoCo_INCLUDE_DIRS "${MUJOCO_PATH}/include")
     if (NOT EXISTS ${MuJoCo_INCLUDE_DIRS})
         set(MuJoCo_FOUND FALSE)
         if (MuJoCo_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find MuJoCo. Please install MuJoCo using pip.")
+            message(FATAL_ERROR "Could not find MuJoCo. Please install MuJoCo using pip 3.")
         endif()
         return()
     endif()
 
-    # Check if the library file exists
-    cmake_path(APPEND Python3_SITELIB mujoco OUTPUT_VARIABLE mujoco_library_path)
-    file(GLOB mujoco_library_path "${mujoco_library_path}/libmujoco.so.*")
+    file(GLOB mujoco_library_path "${MUJOCO_PATH}/libmujoco.so.*")
     if (NOT mujoco_library_path)
         set(MuJoCo_FOUND FALSE)
         if (MuJoCo_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find MuJoCo. Please install MuJoCo using pip.")
+            message(FATAL_ERROR "Could not find MuJoCo. Please install MuJoCo using pip 4.")
         endif()
         return()
     endif()