From fff849eb698cb7581a869761dcf730b7b98ecd33 Mon Sep 17 00:00:00 2001
From: Jeongseok Lee <jslee02@gmail.com>
Date: Sun, 10 Nov 2024 13:42:14 -0800
Subject: [PATCH] Attempt to fix rpath issue

---
 pixi.toml | 186 +++++++++++++++++++++++++++++++++++-------------------
 1 file changed, 120 insertions(+), 66 deletions(-)

diff --git a/pixi.toml b/pixi.toml
index 955ddc235a7df..d4e2ae4332886 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -41,106 +41,129 @@ urdfdom = ">=4.0.0"
 [tasks]
 clean = { cmd = "rm -rf build && rm -rf .deps && rm -rf .pixi && rm pixi.lock" }
 
-config-local = { cmd = "cmake -G Ninja -S . -B build -DDART_VERBOSE=ON -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX" }
-install-local = { cmd = "cmake --install build --prefix $CONDA_PREFIX", depends_on = [
-    "config_local",
-    "build",
-] }
-
 config = { cmd = """
     cmake \
         -G Ninja \
         -S . \
-        -B build \
+        -B build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \
         -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
         -DCMAKE_BUILD_TYPE=$BUILD_TYPE \
-        -DDART_VERBOSE=$VERBOSE \
+        -DDART_VERBOSE=$DART_VERBOSE \
         -DDART_USE_SYSTEM_IMGUI=ON \
-        -DCMAKE_PREFIX_PATH=$CONDA_PREFIX \
-        -DCMAKE_BUILD_WITH_INSTALL_RPATH=ON \
-        -DCMAKE_INSTALL_RPATH=$CONDA_PREFIX/lib \
-        -DCMAKE_INSTALL_RPATH_USE_LINK_PATH=ON
-""", env = { VERBOSE = "OFF", BUILD_TYPE = "Release" } }
+        -DCMAKE_PREFIX_PATH=$CONDA_PREFIX
+""", env = { DART_VERBOSE = "OFF", BUILD_TYPE = "Release" } }
+
+lint-cpp = { cmd = """
+    cmake \
+    --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \
+    --target format
+""", depends_on = ["config"] }
 
-lint-cpp = { cmd = "cmake --build build --target format", depends_on = [
-    "config",
-] }
 lint-py = { cmd = "black . --exclude '\\..*' && isort . --skip-glob '.*'", depends_on = [
     "config",
 ] }
+
 lint = { depends_on = ["lint-cpp", "lint-py"] }
-check-lint-cpp = { cmd = "cmake --build build --target check-format", depends_on = [
-    "config",
-] }
+
+check-lint-cpp = { cmd = """
+    cmake \
+        --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \
+        --target check-format
+""", depends_on = ["config"] }
+
 check-lint-py = { cmd = "black . --check --exclude '\\..*' && isort . --check --skip-glob '.*'", depends_on = [
     "config",
 ] }
+
 check-lint = { depends_on = ["check-lint-cpp", "check-lint-py"] }
 
-build = { cmd = "cmake --build build -j --target all", depends_on = ["config"] }
-build-tests = { cmd = "cmake --build build -j --target tests", depends_on = [
-    "config",
-] }
-build-dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [
+build = { cmd = """
+    cmake \
+        --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \
+        -j \
+        --target all
+""", depends_on = ["config"] }
+
+build-tests = { cmd = """
+    cmake \
+        --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \
+        -j \
+        --target tests
+""", depends_on = ["config"] }
+
+build-dartpy = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE -j --target dartpy", depends_on = [
     "config",
 ] }
 
-test = { cmd = "ctest --test-dir build --output-on-failure", depends_on = [
+test = { cmd = "ctest --test-dir build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --output-on-failure", depends_on = [
     "build-tests",
 ] }
-test-dartpy = { cmd = "cmake --build build -j --target pytest", depends_on = [
+
+test-dartpy = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE -j --target pytest", depends_on = [
     "config",
 ] }
-test-all = { cmd = "cmake --build build -j --target ALL", depends_on = [
+
+test-all = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE -j --target ALL", depends_on = [
     "config",
 ] }
 
-ex-atlas-puppet = { cmd = "cmake --build build --target atlas_puppet --parallel && ./build/bin/atlas_puppet", depends_on = [
+ex-atlas-puppet = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target atlas_puppet --parallel && ./build/bin/atlas_puppet", depends_on = [
     "config",
 ] }
-ex-atlas-simbicon = { cmd = "cmake --build build --target atlas_simbicon --parallel && ./build/bin/atlas_simbicon", depends_on = [
+
+ex-atlas-simbicon = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target atlas_simbicon --parallel && ./build/bin/atlas_simbicon", depends_on = [
     "config",
 ] }
-ex-hello-world = { cmd = "cmake --build build --target hello_world --parallel && ./build/bin/hello_world", depends_on = [
+
+ex-hello-world = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target hello_world --parallel && ./build/bin/hello_world", depends_on = [
     "config",
 ] }
 
-bm-boxes = { cmd = "cmake --build build --target BM_INTEGRATION_boxes --parallel && ./build/bin/BM_INTEGRATION_boxes", depends_on = [
+bm-boxes = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target BM_INTEGRATION_boxes --parallel && ./build/bin/BM_INTEGRATION_boxes", depends_on = [
     "config",
 ] }
-bm-empty = { cmd = "cmake --build build --target BM_INTEGRATION_empty --parallel && ./build/bin/BM_INTEGRATION_empty", depends_on = [
+
+bm-empty = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target BM_INTEGRATION_empty --parallel && ./build/bin/BM_INTEGRATION_empty", depends_on = [
     "config",
 ] }
-bm-kinematics = { cmd = "cmake --build build --target BM_INTEGRATION_kinematics --parallel && ./build/bin/BM_INTEGRATION_kinematics", depends_on = [
+
+bm-kinematics = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target BM_INTEGRATION_kinematics --parallel && ./build/bin/BM_INTEGRATION_kinematics", depends_on = [
     "config",
 ] }
 
-tu-biped = { cmd = "cmake --build build --target tutorial_biped --parallel && ./build/bin/tutorial_biped", depends_on = [
+tu-biped = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target tutorial_biped --parallel && ./build/bin/tutorial_biped", depends_on = [
     "config",
 ] }
-tu-biped-fi = { cmd = "cmake --build build --target tutorial_biped_finished --parallel && ./build/bin/tutorial_biped_finished", depends_on = [
+
+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 = [
     "config",
 ] }
-tu-collisions = { cmd = "cmake --build build --target tutorial_collisions --parallel && ./build/bin/tutorial_collisions", depends_on = [
+
+tu-collisions = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target tutorial_collisions --parallel && ./build/bin/tutorial_collisions", depends_on = [
     "config",
 ] }
-tu-collisions-fi = { cmd = "cmake --build build --target tutorial_collisions_finished --parallel && ./build/bin/tutorial_collisions_finished", depends_on = [
+
+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 = [
     "config",
 ] }
-tu-dominoes = { cmd = "cmake --build build --target tutorial_dominoes --parallel && ./build/bin/tutorial_dominoes", depends_on = [
+
+tu-dominoes = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target tutorial_dominoes --parallel && ./build/bin/tutorial_dominoes", depends_on = [
     "config",
 ] }
-tu-dominoes-fi = { cmd = "cmake --build build --target tutorial_dominoes_finished --parallel && ./build/bin/tutorial_dominoes_finished", depends_on = [
+
+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 = [
     "config",
 ] }
-tu-multi-pendulum = { cmd = "cmake --build build --target tutorial_multi_pendulum --parallel && ./build/bin/tutorial_multi_pendulum", depends_on = [
+
+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 = [
     "config",
 ] }
-tu-multi-pendulum-fi = { cmd = "cmake --build build --target tutorial_multi_pendulum_finished --parallel && ./build/bin/tutorial_multi_pendulum_finished", depends_on = [
+
+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 = [
     "config",
 ] }
 
-install = { cmd = "cmake --build build --target install --parallel", depends_on = [
+install = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target install --parallel", depends_on = [
     "build",
 ] }
 
@@ -193,7 +216,7 @@ freeglut = ">=3.2.2"
 config = { cmd = """
     cmake \
         -S . \
-        -B build \
+        -B build/$PIXI_ENVIRONMENT_NAME/cpp \
         -G 'Visual Studio 17 2022' \
         -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
         -DDART_VERBOSE=$DART_VERBOSE \
@@ -201,60 +224,91 @@ config = { cmd = """
         -DBUILD_SHARED_LIBS=OFF \
         -DDART_USE_SYSTEM_IMGUI=ON
 """, env = { DART_VERBOSE = "OFF" } }
+
 lint-py = { cmd = "black . --exclude '\\..*' && isort . --skip-glob '.*'", depends_on = [
     "config",
 ] }
+
 lint = { depends_on = ["lint-py"] }
+
 check-lint-py = { cmd = "black . --check --exclude '\\..*' && isort . --check --skip-glob '.*'", depends_on = [
     "config",
 ] }
+
 check-lint = { depends_on = ["check-lint-py"] }
 
-build = { cmd = "cmake --build build --config $BUILD_TYPE -j", depends_on = [
+build = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp --config $BUILD_TYPE -j", depends_on = [
     "config",
 ], env = { BUILD_TYPE = "OFF" } }
-build-tests = { cmd = "cmake --build build --config $BUILD_TYPE -j --target tests", depends_on = [
+
+build-tests = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp --config $BUILD_TYPE -j --target tests", depends_on = [
     "config",
 ], env = { BUILD_TYPE = "OFF" } }
-build-dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [
+
+build-dartpy = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp -j --target dartpy", depends_on = [
     "config",
 ] }
 
-test = { cmd = "ctest --test-dir build --build-config $BUILD_TYPE --output-on-failure", depends_on = [
-    "build-tests",
-], env = { BUILD_TYPE = "OFF" } }
-test-dartpy = { cmd = "cmake --build build --config $BUILD_TYPE -j --target pytest", depends_on = [
-    "config",
-], env = { BUILD_TYPE = "OFF" } }
-test-all = { cmd = "cmake --build build --config $BUILD_TYPE -j --target ALL", depends_on = [
-    "config",
-], env = { BUILD_TYPE = "OFF" } }
+test = { cmd = """
+    ctest \
+        --test-dir build/$PIXI_ENVIRONMENT_NAME/cpp \
+        --build-config $BUILD_TYPE \
+        --output-on-failure
+    """, depends_on = ["build-tests"], env = { BUILD_TYPE = "OFF" } }
 
-tu-biped = { cmd = "cmake --build build --config $BUILD_TYPE --target tutorial_biped --parallel && build/$BUILD_TYPE/tutorial_biped.exe", depends_on = [
-    "config",
-], env = { BUILD_TYPE = "OFF" } }
-tu-biped-fi = { cmd = "cmake --build build --config $BUILD_TYPE --target tutorial_biped_finished --parallel && build/$BUILD_TYPE/tutorial_biped_finished.exe", depends_on = [
+test-dartpy = { cmd = """
+    cmake \
+        --build build/$PIXI_ENVIRONMENT_NAME/cpp \
+        --config $BUILD_TYPE \
+        -j \
+        --target pytest
+    """, depends_on = ["config"], env = { BUILD_TYPE = "OFF" } }
+
+test-all = { cmd = """
+    cmake \
+        --build build/$PIXI_ENVIRONMENT_NAME/cpp \
+        --config $BUILD_TYPE \
+        -j \
+        --target ALL
+""", depends_on = ["config"], env = { BUILD_TYPE = "OFF" } }
+
+tu-biped = { cmd = """
+    cmake \
+        --build build/$PIXI_ENVIRONMENT_NAME/cpp \
+        --config $BUILD_TYPE \
+        --target tutorial_biped \
+        --parallel \
+    && build/$BUILD_TYPE/tutorial_biped.exe
+    """, depends_on = ["config"], env = { BUILD_TYPE = "OFF" } }
+
+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 = [
     "config",
 ], env = { BUILD_TYPE = "OFF" } }
-tu-collisions = { cmd = "cmake --build build --config $BUILD_TYPE --target tutorial_collisions --parallel && build/$BUILD_TYPE/tutorial_collisions.exe", depends_on = [
+
+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 = [
     "config",
 ], env = { BUILD_TYPE = "OFF" } }
-tu-collisions-fi = { cmd = "cmake --build build --config $BUILD_TYPE --target tutorial_collisions_finished --parallel && build/$BUILD_TYPE/tutorial_collisions_finished.exe", depends_on = [
+
+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 = [
     "config",
 ], env = { BUILD_TYPE = "OFF" } }
-tu-dominoes = { cmd = "cmake --build build --config $BUILD_TYPE --target tutorial_dominoes --parallel && build/$BUILD_TYPE/tutorial_dominoes.exe", depends_on = [
+
+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 = [
     "config",
 ], env = { BUILD_TYPE = "OFF" } }
-tu-dominoes-fi = { cmd = "cmake --build build --config $BUILD_TYPE --target tutorial_dominoes_finished --parallel && build/$BUILD_TYPE/tutorial_dominoes_finished.exe", depends_on = [
+
+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 = [
     "config",
 ], env = { BUILD_TYPE = "OFF" } }
-tu-multi-pendulum = { cmd = "cmake --build build --config $BUILD_TYPE --target tutorial_multi_pendulum --parallel && build/$BUILD_TYPE/tutorial_multi_pendulum.exe", depends_on = [
+
+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 = [
     "config",
 ], env = { BUILD_TYPE = "OFF" } }
-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 = [
+
+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 = [
     "config",
 ], env = { BUILD_TYPE = "OFF" } }
 
-install = { cmd = "cmake --build build --config $BUILD_TYPE -j --target install", depends_on = [
+install = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp --config $BUILD_TYPE -j --target install", depends_on = [
     "build",
 ], env = { BUILD_TYPE = "OFF" } }