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jslee02jslee02
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Attempt to fix rpath issue
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‎pixi.toml‎

Lines changed: 120 additions & 66 deletions
Original file line numberDiff line numberDiff line change
@@ -41,106 +41,129 @@ urdfdom = ">=4.0.0"
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[tasks]
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clean = { cmd = "rm -rf build && rm -rf .deps && rm -rf .pixi && rm pixi.lock" }
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44-
config-local = { cmd = "cmake -G Ninja -S . -B build -DDART_VERBOSE=ON -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX" }
45-
install-local = { cmd = "cmake --install build --prefix $CONDA_PREFIX", depends_on = [
46-
"config_local",
47-
"build",
48-
] }
49-
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config = { cmd = """
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cmake \
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-G Ninja \
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-S . \
54-
-B build \
48+
-B build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \
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-DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
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-DCMAKE_BUILD_TYPE=$BUILD_TYPE \
57-
-DDART_VERBOSE=$VERBOSE \
51+
-DDART_VERBOSE=$DART_VERBOSE \
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-DDART_USE_SYSTEM_IMGUI=ON \
59-
-DCMAKE_PREFIX_PATH=$CONDA_PREFIX \
60-
-DCMAKE_BUILD_WITH_INSTALL_RPATH=ON \
61-
-DCMAKE_INSTALL_RPATH=$CONDA_PREFIX/lib \
62-
-DCMAKE_INSTALL_RPATH_USE_LINK_PATH=ON
63-
""", env = { VERBOSE = "OFF", BUILD_TYPE = "Release" } }
53+
-DCMAKE_PREFIX_PATH=$CONDA_PREFIX
54+
""", env = { DART_VERBOSE = "OFF", BUILD_TYPE = "Release" } }
55+
56+
lint-cpp = { cmd = """
57+
cmake \
58+
--build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \
59+
--target format
60+
""", depends_on = ["config"] }
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65-
lint-cpp = { cmd = "cmake --build build --target format", depends_on = [
66-
"config",
67-
] }
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lint-py = { cmd = "black . --exclude '\\..*' && isort . --skip-glob '.*'", depends_on = [
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"config",
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] }
65+
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lint = { depends_on = ["lint-cpp", "lint-py"] }
72-
check-lint-cpp = { cmd = "cmake --build build --target check-format", depends_on = [
73-
"config",
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] }
67+
68+
check-lint-cpp = { cmd = """
69+
cmake \
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--build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \
71+
--target check-format
72+
""", depends_on = ["config"] }
73+
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check-lint-py = { cmd = "black . --check --exclude '\\..*' && isort . --check --skip-glob '.*'", depends_on = [
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"config",
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] }
77+
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check-lint = { depends_on = ["check-lint-cpp", "check-lint-py"] }
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80-
build = { cmd = "cmake --build build -j --target all", depends_on = ["config"] }
81-
build-tests = { cmd = "cmake --build build -j --target tests", depends_on = [
82-
"config",
83-
] }
84-
build-dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [
80+
build = { cmd = """
81+
cmake \
82+
--build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \
83+
-j \
84+
--target all
85+
""", depends_on = ["config"] }
86+
87+
build-tests = { cmd = """
88+
cmake \
89+
--build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \
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-j \
91+
--target tests
92+
""", depends_on = ["config"] }
93+
94+
build-dartpy = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE -j --target dartpy", depends_on = [
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"config",
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] }
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88-
test = { cmd = "ctest --test-dir build --output-on-failure", depends_on = [
98+
test = { cmd = "ctest --test-dir build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --output-on-failure", depends_on = [
8999
"build-tests",
90100
] }
91-
test-dartpy = { cmd = "cmake --build build -j --target pytest", depends_on = [
101+
102+
test-dartpy = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE -j --target pytest", depends_on = [
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"config",
93104
] }
94-
test-all = { cmd = "cmake --build build -j --target ALL", depends_on = [
105+
106+
test-all = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE -j --target ALL", depends_on = [
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"config",
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] }
97109

98-
ex-atlas-puppet = { cmd = "cmake --build build --target atlas_puppet --parallel && ./build/bin/atlas_puppet", depends_on = [
110+
ex-atlas-puppet = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target atlas_puppet --parallel && ./build/bin/atlas_puppet", depends_on = [
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"config",
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] }
101-
ex-atlas-simbicon = { cmd = "cmake --build build --target atlas_simbicon --parallel && ./build/bin/atlas_simbicon", depends_on = [
113+
114+
ex-atlas-simbicon = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target atlas_simbicon --parallel && ./build/bin/atlas_simbicon", depends_on = [
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"config",
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] }
104-
ex-hello-world = { cmd = "cmake --build build --target hello_world --parallel && ./build/bin/hello_world", depends_on = [
117+
118+
ex-hello-world = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target hello_world --parallel && ./build/bin/hello_world", depends_on = [
105119
"config",
106120
] }
107121

108-
bm-boxes = { cmd = "cmake --build build --target BM_INTEGRATION_boxes --parallel && ./build/bin/BM_INTEGRATION_boxes", depends_on = [
122+
bm-boxes = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target BM_INTEGRATION_boxes --parallel && ./build/bin/BM_INTEGRATION_boxes", depends_on = [
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"config",
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] }
111-
bm-empty = { cmd = "cmake --build build --target BM_INTEGRATION_empty --parallel && ./build/bin/BM_INTEGRATION_empty", depends_on = [
125+
126+
bm-empty = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target BM_INTEGRATION_empty --parallel && ./build/bin/BM_INTEGRATION_empty", depends_on = [
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"config",
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] }
114-
bm-kinematics = { cmd = "cmake --build build --target BM_INTEGRATION_kinematics --parallel && ./build/bin/BM_INTEGRATION_kinematics", depends_on = [
129+
130+
bm-kinematics = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target BM_INTEGRATION_kinematics --parallel && ./build/bin/BM_INTEGRATION_kinematics", depends_on = [
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"config",
116132
] }
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118-
tu-biped = { cmd = "cmake --build build --target tutorial_biped --parallel && ./build/bin/tutorial_biped", depends_on = [
134+
tu-biped = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target tutorial_biped --parallel && ./build/bin/tutorial_biped", depends_on = [
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"config",
120136
] }
121-
tu-biped-fi = { cmd = "cmake --build build --target tutorial_biped_finished --parallel && ./build/bin/tutorial_biped_finished", depends_on = [
137+
138+
tu-biped-fi = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target tutorial_biped_finished --parallel && ./build/bin/tutorial_biped_finished", depends_on = [
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"config",
123140
] }
124-
tu-collisions = { cmd = "cmake --build build --target tutorial_collisions --parallel && ./build/bin/tutorial_collisions", depends_on = [
141+
142+
tu-collisions = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target tutorial_collisions --parallel && ./build/bin/tutorial_collisions", depends_on = [
125143
"config",
126144
] }
127-
tu-collisions-fi = { cmd = "cmake --build build --target tutorial_collisions_finished --parallel && ./build/bin/tutorial_collisions_finished", depends_on = [
145+
146+
tu-collisions-fi = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target tutorial_collisions_finished --parallel && ./build/bin/tutorial_collisions_finished", depends_on = [
128147
"config",
129148
] }
130-
tu-dominoes = { cmd = "cmake --build build --target tutorial_dominoes --parallel && ./build/bin/tutorial_dominoes", depends_on = [
149+
150+
tu-dominoes = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target tutorial_dominoes --parallel && ./build/bin/tutorial_dominoes", depends_on = [
131151
"config",
132152
] }
133-
tu-dominoes-fi = { cmd = "cmake --build build --target tutorial_dominoes_finished --parallel && ./build/bin/tutorial_dominoes_finished", depends_on = [
153+
154+
tu-dominoes-fi = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target tutorial_dominoes_finished --parallel && ./build/bin/tutorial_dominoes_finished", depends_on = [
134155
"config",
135156
] }
136-
tu-multi-pendulum = { cmd = "cmake --build build --target tutorial_multi_pendulum --parallel && ./build/bin/tutorial_multi_pendulum", depends_on = [
157+
158+
tu-multi-pendulum = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target tutorial_multi_pendulum --parallel && ./build/bin/tutorial_multi_pendulum", depends_on = [
137159
"config",
138160
] }
139-
tu-multi-pendulum-fi = { cmd = "cmake --build build --target tutorial_multi_pendulum_finished --parallel && ./build/bin/tutorial_multi_pendulum_finished", depends_on = [
161+
162+
tu-multi-pendulum-fi = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target tutorial_multi_pendulum_finished --parallel && ./build/bin/tutorial_multi_pendulum_finished", depends_on = [
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"config",
141164
] }
142165

143-
install = { cmd = "cmake --build build --target install --parallel", depends_on = [
166+
install = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target install --parallel", depends_on = [
144167
"build",
145168
] }
146169

@@ -193,68 +216,99 @@ freeglut = ">=3.2.2"
193216
config = { cmd = """
194217
cmake \
195218
-S . \
196-
-B build \
219+
-B build/$PIXI_ENVIRONMENT_NAME/cpp \
197220
-G 'Visual Studio 17 2022' \
198221
-DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
199222
-DDART_VERBOSE=$DART_VERBOSE \
200223
-DDART_MSVC_DEFAULT_OPTIONS=ON \
201224
-DBUILD_SHARED_LIBS=OFF \
202225
-DDART_USE_SYSTEM_IMGUI=ON
203226
""", env = { DART_VERBOSE = "OFF" } }
227+
204228
lint-py = { cmd = "black . --exclude '\\..*' && isort . --skip-glob '.*'", depends_on = [
205229
"config",
206230
] }
231+
207232
lint = { depends_on = ["lint-py"] }
233+
208234
check-lint-py = { cmd = "black . --check --exclude '\\..*' && isort . --check --skip-glob '.*'", depends_on = [
209235
"config",
210236
] }
237+
211238
check-lint = { depends_on = ["check-lint-py"] }
212239

213-
build = { cmd = "cmake --build build --config $BUILD_TYPE -j", depends_on = [
240+
build = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp --config $BUILD_TYPE -j", depends_on = [
214241
"config",
215242
], env = { BUILD_TYPE = "OFF" } }
216-
build-tests = { cmd = "cmake --build build --config $BUILD_TYPE -j --target tests", depends_on = [
243+
244+
build-tests = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp --config $BUILD_TYPE -j --target tests", depends_on = [
217245
"config",
218246
], env = { BUILD_TYPE = "OFF" } }
219-
build-dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [
247+
248+
build-dartpy = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp -j --target dartpy", depends_on = [
220249
"config",
221250
] }
222251

223-
test = { cmd = "ctest --test-dir build --build-config $BUILD_TYPE --output-on-failure", depends_on = [
224-
"build-tests",
225-
], env = { BUILD_TYPE = "OFF" } }
226-
test-dartpy = { cmd = "cmake --build build --config $BUILD_TYPE -j --target pytest", depends_on = [
227-
"config",
228-
], env = { BUILD_TYPE = "OFF" } }
229-
test-all = { cmd = "cmake --build build --config $BUILD_TYPE -j --target ALL", depends_on = [
230-
"config",
231-
], env = { BUILD_TYPE = "OFF" } }
252+
test = { cmd = """
253+
ctest \
254+
--test-dir build/$PIXI_ENVIRONMENT_NAME/cpp \
255+
--build-config $BUILD_TYPE \
256+
--output-on-failure
257+
""", depends_on = ["build-tests"], env = { BUILD_TYPE = "OFF" } }
232258

233-
tu-biped = { cmd = "cmake --build build --config $BUILD_TYPE --target tutorial_biped --parallel && build/$BUILD_TYPE/tutorial_biped.exe", depends_on = [
234-
"config",
235-
], env = { BUILD_TYPE = "OFF" } }
236-
tu-biped-fi = { cmd = "cmake --build build --config $BUILD_TYPE --target tutorial_biped_finished --parallel && build/$BUILD_TYPE/tutorial_biped_finished.exe", depends_on = [
259+
test-dartpy = { cmd = """
260+
cmake \
261+
--build build/$PIXI_ENVIRONMENT_NAME/cpp \
262+
--config $BUILD_TYPE \
263+
-j \
264+
--target pytest
265+
""", depends_on = ["config"], env = { BUILD_TYPE = "OFF" } }
266+
267+
test-all = { cmd = """
268+
cmake \
269+
--build build/$PIXI_ENVIRONMENT_NAME/cpp \
270+
--config $BUILD_TYPE \
271+
-j \
272+
--target ALL
273+
""", depends_on = ["config"], env = { BUILD_TYPE = "OFF" } }
274+
275+
tu-biped = { cmd = """
276+
cmake \
277+
--build build/$PIXI_ENVIRONMENT_NAME/cpp \
278+
--config $BUILD_TYPE \
279+
--target tutorial_biped \
280+
--parallel \
281+
&& build/$BUILD_TYPE/tutorial_biped.exe
282+
""", depends_on = ["config"], env = { BUILD_TYPE = "OFF" } }
283+
284+
tu-biped-fi = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp --config $BUILD_TYPE --target tutorial_biped_finished --parallel && build/$BUILD_TYPE/tutorial_biped_finished.exe", depends_on = [
237285
"config",
238286
], env = { BUILD_TYPE = "OFF" } }
239-
tu-collisions = { cmd = "cmake --build build --config $BUILD_TYPE --target tutorial_collisions --parallel && build/$BUILD_TYPE/tutorial_collisions.exe", depends_on = [
287+
288+
tu-collisions = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp --config $BUILD_TYPE --target tutorial_collisions --parallel && build/$BUILD_TYPE/tutorial_collisions.exe", depends_on = [
240289
"config",
241290
], env = { BUILD_TYPE = "OFF" } }
242-
tu-collisions-fi = { cmd = "cmake --build build --config $BUILD_TYPE --target tutorial_collisions_finished --parallel && build/$BUILD_TYPE/tutorial_collisions_finished.exe", depends_on = [
291+
292+
tu-collisions-fi = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp --config $BUILD_TYPE --target tutorial_collisions_finished --parallel && build/$BUILD_TYPE/tutorial_collisions_finished.exe", depends_on = [
243293
"config",
244294
], env = { BUILD_TYPE = "OFF" } }
245-
tu-dominoes = { cmd = "cmake --build build --config $BUILD_TYPE --target tutorial_dominoes --parallel && build/$BUILD_TYPE/tutorial_dominoes.exe", depends_on = [
295+
296+
tu-dominoes = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp --config $BUILD_TYPE --target tutorial_dominoes --parallel && build/$BUILD_TYPE/tutorial_dominoes.exe", depends_on = [
246297
"config",
247298
], env = { BUILD_TYPE = "OFF" } }
248-
tu-dominoes-fi = { cmd = "cmake --build build --config $BUILD_TYPE --target tutorial_dominoes_finished --parallel && build/$BUILD_TYPE/tutorial_dominoes_finished.exe", depends_on = [
299+
300+
tu-dominoes-fi = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp --config $BUILD_TYPE --target tutorial_dominoes_finished --parallel && build/$BUILD_TYPE/tutorial_dominoes_finished.exe", depends_on = [
249301
"config",
250302
], env = { BUILD_TYPE = "OFF" } }
251-
tu-multi-pendulum = { cmd = "cmake --build build --config $BUILD_TYPE --target tutorial_multi_pendulum --parallel && build/$BUILD_TYPE/tutorial_multi_pendulum.exe", depends_on = [
303+
304+
tu-multi-pendulum = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp --config $BUILD_TYPE --target tutorial_multi_pendulum --parallel && build/$BUILD_TYPE/tutorial_multi_pendulum.exe", depends_on = [
252305
"config",
253306
], env = { BUILD_TYPE = "OFF" } }
254-
tu-multi-pendulum-fi = { cmd = "cmake --build build --config $BUILD_TYPE --target tutorial_multi_pendulum_finished --parallel && build/$BUILD_TYPE/tutorial_multi_pendulum_finished.exe", depends_on = [
307+
308+
tu-multi-pendulum-fi = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp --config $BUILD_TYPE --target tutorial_multi_pendulum_finished --parallel && build/$BUILD_TYPE/tutorial_multi_pendulum_finished.exe", depends_on = [
255309
"config",
256310
], env = { BUILD_TYPE = "OFF" } }
257311

258-
install = { cmd = "cmake --build build --config $BUILD_TYPE -j --target install", depends_on = [
312+
install = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp --config $BUILD_TYPE -j --target install", depends_on = [
259313
"build",
260314
], env = { BUILD_TYPE = "OFF" } }

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