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google-deepmind / mujoco

Multi-Joint dynamics with Contact. A general purpose physics simulator.
https://mujoco.org
Apache License 2.0
7.47k stars 734 forks source link

Build from Source incl. Python Bindings #1708

Open hubernikus opened 3 weeks ago

hubernikus commented 3 weeks ago

Hi,

I'm an engineer and I'm trying to use MuJoCo for a multibody simulation.

I was trying to understand the workings of Mujoco better and investigate some bugs that occurred for me. I've built the project including python bindings from source.

My question is, which buil step do I need to repeat, such that changes in the c-code (e.g., src/xml/xml_api.cc) influence the python built?

And a comment, in the python source build instruction, it would be useful to additionally add, that the general mujoco build needs to be executed, or did I miss something? => After 3. one has to follow the instructions on https://mujoco.readthedocs.io/en/latest/programming/#building-mujoco-from-source right?

Also, the path definition should have an additional keyword export to make the variables to environment variables, right? And why is the variable MUJOCO_PLUGIN_PATH needed? Does it not directly follow from the main repository? Or did I not understand that variable correctly?

yuvaltassa commented 3 weeks ago

The last part or your question is addressed by @traversaro's #1515, I believe.

I think you're right that the instructions for building the bindings should mention building the actual library...

I believe @saran-t will be addressing issues in build workflow and related documentation in the near future 🙂