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Allow MUJOCO_DIR to be specified as cmake variable #41

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merged 1 commit into from
Dec 2, 2024
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Allow MUJOCO_DIR to be specified as cmake variable #41

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8 changes: 6 additions & 2 deletions mujoco_ros/cmake/Findmujoco.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -9,15 +9,19 @@ endif()

if(NOT mujoco_FOUND)
message(STATUS "Looking for MuJoCo tar install ...")
# Initialize MUJOCO_DIR from environment variable if not yet set as cmake variable
if(NOT DEFINED MUJOCO_DIR)
set(MUJOCO_DIR $ENV{MUJOCO_DIR} CACHE PATH "Path to MuJoCo installation directory")
endif()
# Find headers
find_file(mujoco_INCLUDE_DIRS include/mujoco/mujoco.h PATHS ENV MUJOCO_DIR)
find_file(mujoco_INCLUDE_DIRS include/mujoco/mujoco.h PATHS ${MUJOCO_DIR})
if(mujoco_INCLUDE_DIRS)
get_filename_component(mujoco_INCLUDE_DIRS ${mujoco_INCLUDE_DIRS} PATH)
get_filename_component(mujoco_INCLUDE_DIRS ${mujoco_INCLUDE_DIRS} PATH)
endif()

# Find library
find_library(mujoco_LIBRARIES lib/libmujoco.so PATHS ENV MUJOCO_DIR)
find_library(mujoco_LIBRARIES lib/libmujoco.so PATHS ${MUJOCO_DIR})

# Find dependencies
cmake_policy(SET CMP0072 NEW)
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