underactuated/MODULE.bazel at master · Linhpengu/underactuated · GitHub

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module(name = "underactuated")

# If you don't want to support building on macOS, you may remove the next line.
# Note that it must appear prior to loading "rules_cc", per the documentation:
# https://github.com/bazelbuild/apple_support?tab=readme-ov-file#bazel-7-setup
bazel_dep(name = "apple_support", version = "1.17.1")

# Add the Bazel rules we need.
bazel_dep(name = "bazel_skylib", version = "1.8.0")
bazel_dep(name = "rules_cc", version = "0.2.0")
bazel_dep(name = "rules_python", version = "0.40.0")

# Note: This repository uses Drake via pip wheels, not as a Bazel dependency.
# We only use drake_models as a Bazel repository for performance.

# Drake models repository for the underactuated examples
http_archive = use_repo_rule("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
http_archive(
    name = "drake_models",
    urls = [
        "https://github.com/RobotLocomotion/models/archive/69c92595a391eb023c27ab6ac8f80d58a3e4612d.tar.gz",
        "https://drake-mirror.csail.mit.edu/github/RobotLocomotion/models/69c92595a391eb023c27ab6ac8f80d58a3e4612d.tar.gz",
        "https://s3.amazonaws.com/drake-mirror/github/RobotLocomotion/models/69c92595a391eb023c27ab6ac8f80d58a3e4612d.tar.gz",
    ],
    sha256 = "ba571c8b369a62c3764d250944b27d72071488789b2494604d23342994141fe2",
    strip_prefix = "models-69c92595a391eb023c27ab6ac8f80d58a3e4612d",
    build_file_content = """
package(default_visibility = ["//visibility:public"])

_SRCS = glob(["**/*"])

exports_files(_SRCS)

filegroup(
    name = "drake_models",
    srcs = _SRCS,
)

""",
)

# Buildifier dependencies
http_file = use_repo_rule("@bazel_tools//tools/build_defs/repo:http.bzl", "http_file")
http_file(
    name = "buildifier_linux",
    downloaded_file_path = "buildifier",
    executable = True,
    sha256 = "ec064a5edd2a2a210cf8162305869a27b3ed6c7e50caa70687bc9d72177f61f3",
    urls = ["https://github.com/bazelbuild/buildtools/releases/download/1.0.0/buildifier"],
)
http_file(
    name = "buildifier_macos",
    downloaded_file_path = "buildifier",
    executable = True,
    sha256 = "6e7545fdfd4b142041b4fefd8f338b31dee556aa37e9fa8e244ee66a765d352f",
    urls = ["https://github.com/bazelbuild/buildtools/releases/download/1.0.0/buildifier.mac"],
)

# Tidy dependencies - local file repositories
local_file = use_repo_rule("//book/htmlbook/tools/repo:local.bzl", "local_file")
local_file(
    name = "tidy_linux",
    path = "/usr/bin/tidy",
    symlinked_file_path = "tidy",
)
local_file(
    name = "tidy_macos_i386",
    path = "/usr/local/bin/tidy",
    symlinked_file_path = "tidy",
)
local_file(
    name = "tidy_macos_arm64",
    path = "/opt/homebrew/bin/tidy",
    symlinked_file_path = "tidy",
)

# Python setup for bzlmod - use host system Python instead of hermetic
# Configure toolchains to use the host system Python interpreter
python = use_extension("@rules_python//python/extensions:python.bzl", "python")
python.toolchain(python_version = "3.10")  # Ubuntu 22.04 (Jammy)
python.toolchain(python_version = "3.12")  # Ubuntu 24.04 (Noble)
python.toolchain(python_version = "3.13")  # macOS
use_repo(python, "python_3_10", "python_3_12", "python_3_13")

# Python pip dependencies with automatic platform detection
pip = use_extension("@rules_python//python/extensions:pip.bzl", "pip")

# Multi-version pip repository using same hub_name
# This allows automatic Python version selection at runtime
pip.parse(
    hub_name = "htmlbook_pip",
    python_version = "3.10",
    requirements_darwin = "//:requirements-bazel-mac.txt",
    requirements_linux = "//:requirements-bazel-linux.txt",
    requirements_lock = "//:requirements-bazel.txt",
    experimental_requirement_cycles = {
      "lxml": [
        "lxml",
        "lxml-html-clean",
      ],
    },
)

pip.parse(
    hub_name = "htmlbook_pip",
    python_version = "3.12",
    requirements_darwin = "//:requirements-bazel-mac.txt",
    requirements_linux = "//:requirements-bazel-linux.txt",
    requirements_lock = "//:requirements-bazel.txt",
    experimental_requirement_cycles = {
      "lxml": [
        "lxml",
        "lxml-html-clean",
      ],
    },
)

pip.parse(
    hub_name = "htmlbook_pip",
    python_version = "3.13",
    requirements_darwin = "//:requirements-bazel-mac.txt",
    requirements_linux = "//:requirements-bazel-linux.txt",
    requirements_lock = "//:requirements-bazel.txt",
    experimental_requirement_cycles = {
      "lxml": [
        "lxml",
        "lxml-html-clean",
      ],
    },
)

use_repo(pip, "htmlbook_pip")