From 633bcfd74dbea91ce30229f35e94f4a4dde4c771 Mon Sep 17 00:00:00 2001
From: JeanElsner <jean.elsner@googlemail.com>
Date: Mon, 30 Oct 2023 14:45:32 +0100
Subject: [PATCH 1/2] Avoid setting MuJoCo TAR path by default

---
 cpp/setup.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cpp/setup.py b/cpp/setup.py
index f5f8530..addd4a2 100644
--- a/cpp/setup.py
+++ b/cpp/setup.py
@@ -69,11 +69,11 @@ def build_extension(self, ext):
         "-DCMAKE_BUILD_TYPE={}".format(build_type),
         "-DDM_ROBOTICS_BUILD_TESTS=OFF",
         "-DDM_ROBOTICS_BUILD_WHEEL=True",
-        "-DDM_ROBOTICS_MUJOCO_TAR={}".format(PRE_DOWNLOADED_MUJOCO_TAR),
         "--log-level=VERBOSE",
     ]
 
     if use_preinstalled_libs:
+      cmake_args.append("-DDM_ROBOTICS_MUJOCO_TAR={}".format(PRE_DOWNLOADED_MUJOCO_TAR))
       cmake_args.append("-DFETCHCONTENT_FULLY_DISCONNECTED:BOOL=TRUE")
       cmake_args.append("-DDM_ROBOTICS_USE_SYSTEM_Eigen3:BOOL=TRUE")
 

From 68da2735371b74e5b3387d2eef32da07a39ca456 Mon Sep 17 00:00:00 2001
From: JeanElsner <jean.elsner@googlemail.com>
Date: Mon, 30 Oct 2023 15:07:07 +0100
Subject: [PATCH 2/2] Remove references to deprecated MJLIB_PATH

---
 build.sh                | 20 --------------------
 py/agentflow/tox.ini    |  2 --
 py/geometry/tox.ini     |  2 --
 py/manipulation/tox.ini |  2 --
 py/moma/tox.ini         |  2 --
 5 files changed, 28 deletions(-)

diff --git a/build.sh b/build.sh
index 8b6f0a0..69e0978 100755
--- a/build.sh
+++ b/build.sh
@@ -5,26 +5,6 @@ set -e
 
 root=`pwd`
 
-if [[ -z "$MJLIB_PATH" ]]; then
-  # If MJLIB_PATH was not set, attempt to locate mujoco.so.
-  # This grep aims to avoid nogl versions of the MuJoCo libraru.
-  MJLIB_PATH=$(find -L $HOME/.mujoco/ -type f -name "*mujoco*.so" | grep "libmujoco[[:digit:]]*.so")
-  if [[ ! $? ]]; then
-    echo "Failed to find mujoco shared library (.so file)."
-    echo "Please set MJLIB_PATH to the location of the mujoco .so file."
-    exit 1
-  fi
-fi
-
-if [[ ! -r "$MJLIB_PATH" ]]; then
-  echo "Cannot read the mujoco library at ${MJLIB_PATH}"
-  echo "Set the MJLIB_PATH env var to change this location"
-  exit  1
-fi
-
-echo "MJLIB_PATH: ${MJLIB_PATH}"
-export MJLIB_PATH
-
 cmake_binary=${CMAKE_EXE:-cmake}
 echo "Using cmake command '$cmake_binary'"
 
diff --git a/py/agentflow/tox.ini b/py/agentflow/tox.ini
index a1861bc..327854e 100644
--- a/py/agentflow/tox.ini
+++ b/py/agentflow/tox.ini
@@ -8,7 +8,6 @@ deps =
      {distshare}/dm_robotics-transformations-*.zip
      {distshare}/dm_robotics-geometry-*.zip
      -r requirements_external.txt
-passenv = MJLIB_PATH
 commands = python setup.py sdist bdist_wheel
 
 
@@ -18,7 +17,6 @@ deps =
      {distshare}/dm_robotics-transformations-*.zip
      {distshare}/dm_robotics-geometry-*.zip
      -r requirements_external.txt
-passenv = MJLIB_PATH
 commands = python run_tests.py .
 
 # This test command runs each test in a separate process.
diff --git a/py/geometry/tox.ini b/py/geometry/tox.ini
index ed9c9de..d279bea 100644
--- a/py/geometry/tox.ini
+++ b/py/geometry/tox.ini
@@ -7,7 +7,6 @@ distshare = ../dist
 deps =
      {distshare}/dm_robotics-transformations-*.zip
      -rrequirements_external.txt
-passenv = MJLIB_PATH
 commands = python setup.py sdist bdist_wheel
 
 
@@ -15,5 +14,4 @@ commands = python setup.py sdist bdist_wheel
 deps =
      {distshare}/dm_robotics-transformations-*.zip
      -r requirements_external.txt
-passenv = MJLIB_PATH
 commands = python -m unittest discover -p '*_test.py'
diff --git a/py/manipulation/tox.ini b/py/manipulation/tox.ini
index 0f3ec4d..563570a 100644
--- a/py/manipulation/tox.ini
+++ b/py/manipulation/tox.ini
@@ -10,7 +10,6 @@ deps =
      {distshare}/dm_robotics_controllers-*.whl
      {distshare}/dm_robotics-moma-*.zip
      -r requirements_external.txt
-passenv = MJLIB_PATH
 commands = python setup.py sdist bdist_wheel
 
 [testenv:test]
@@ -21,5 +20,4 @@ deps =
      {distshare}/dm_robotics_controllers-*.whl
      {distshare}/dm_robotics-moma-*.zip
      -r requirements_external.txt
-passenv = MJLIB_PATH
 commands = python run_tests.py .
diff --git a/py/moma/tox.ini b/py/moma/tox.ini
index 1e14bfa..0b5f646 100644
--- a/py/moma/tox.ini
+++ b/py/moma/tox.ini
@@ -9,7 +9,6 @@ deps =
      {distshare}/dm_robotics-agentflow-*.zip
      {distshare}/dm_robotics_controllers-*.whl
      -r requirements_external.txt
-passenv = MJLIB_PATH
 commands =
      python setup.py sdist bdist_wheel
 
@@ -25,7 +24,6 @@ deps =
      {distshare}/dm_robotics-agentflow-*.zip
      {distshare}/dm_robotics_controllers-*.whl
      -r requirements_external.txt
-passenv = MJLIB_PATH
 setenv =
   MUJOCO_GL = osmesa
 commands = python run_tests.py .