Package request: mujoco_vendor

[saikishor]

Package name

mujoco_vendor

Operating System(s)

• linux-64
• linux-aarch64
• osx-64
• osx-arm64
• win-64

Additional context (optional)

Hello,

The mujoco_vendor package is made available on Jazzy and other distros in the recent syncs, but I don't find it on the pixi after running pixi update. Can we add it to the list?

Links and references (optional)

https://github.com/pal-robotics/mujoco_vendor

We want to use this for mujoco_ros2_control

[traversaro]

Good point! We have a fairly updated mujoco package on conda-forge, so ideally we should add it but just as a tiny wrapper on the conda-forge version.

[saikishor]

@traversaro what do you mean as a tiny wrapper of the conda forge version? Do you mind explaining ?

[Tobias-Fischer]

Do something like this:

ros-jazzy/pkg_additional_info.yaml

Lines 47 to 50 in d0c1002

	eigenpy:
	generate_dummy_package_with_run_deps:
	dep_name: eigenpy
	max_pin: 'x.x.x'

[traversaro]

Do something like this:

ros-jazzy/pkg_additional_info.yaml

Lines 47 to 50 in d0c1002
eigenpy:
generate_dummy_package_with_run_deps:
dep_name: eigenpy
max_pin: 'x.x.x'

Actually that section is useful for packages that are not "vendor" for the ROS buildfarm, but are available in conda-forge.

For packages that are "vendor" for the ROS build farm (i.e. they use ament_vendor) i.e. they are small CMake packages that download the actual package via CMake's ExternalProject the strategy that we have been using is to use the modification in ament/ament_cmake#592 (that I should finish, my bad) to pass the option -DAMENT_VENDOR_POLICY=NEVER_VENDOR, see for example:

ros-jazzy/pkg_additional_info.yaml

Lines 121 to 124 in d0c1002

	pybind11_vendor:
	additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR"
	pybind11_json_vendor:
	additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR"

In this way, we ensure that are not have incompatibility between the mujoco conda-forge package and the ros-jazzy-mujoco-vendor robostack-jazzy package. However, to do that I need to finish conda-forge/mujoco-feedstock#104 and conda-forge/mujoco-feedstock#105 .

[saikishor]

Thanks for the inputs @Tobias-Fischer and @traversaro

@traversaro unfortunately, in mujoco_vendor we are using the version 3.4.0 for the mujoco_ros2_control as it comes with good changes for tendons etc. As the packages are different, how do we approach this problem?

P.S. This package only brings the C++ version, but not the python part.

[traversaro]

@traversaro unfortunately, in mujoco_vendor we are using the version 3.4.0 for the mujoco_ros2_control as it comes with good changes for tendons etc. As the packages are different, how do we approach this problem?

We will update mujoco to 3.4.0 in conda-forge, it should not be difficult.

[saikishor]

Thank you!

[traversaro]

S. This package only brings the C++ version, but not the python part

Good to know, we then need to just depend on libmujoco, not on mujoco that contains also the Python part.

[traversaro]

S. This package only brings the C++ version, but not the python part

Good to know, we then need to just depend on libmujoco, not on mujoco that contains also the Python part.

[saikishor]

@traversaro I don't know if we can use the NEVER_VENDOR option as we make this without ament_cmake_vendor. Will this affect this setup?

https://github.com/pal-robotics/mujoco_vendor/blob/b2c29d279814b70784af4c6666f8eab065deea1b/CMakeLists.txt#L12-L24