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Add steps to build MuJoCo Studio to Github actions

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PiperOrigin-RevId: 833325371
Change-Id: I8c7253f3dfabe3e7b6538b602af220310d5aea89
This commit is contained in:
Matija Kecman
2025-11-17 07:09:42 -08:00
committed by Copybara-Service
parent 8eca9926dc
commit 12e24d66f6
2 changed files with 153 additions and 14 deletions
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.github/workflows/build.yml
+107 -13
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@@ -6,6 +6,10 @@
# We set CMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF here to reduce build time.
# It is highly recommended that this is set to ON for production builds.
# TODO(matijak): Consider switching Windows to Ninja builds only, this configures slightly faster
# and brings Windows in line with other OSes. Also we wouldn't need to specify the --config option
# in the build step because Ninja doesn't support multiple configurations (unlike MSBuild).
name: build
on:
@@ -161,10 +165,12 @@ jobs:
with:
node-version: '20'
# Exclude platforms covered by the `wasm` job.
- name: Install NPM Dependencies for WASM bindings
if: ${{ runner.os == 'Linux' && matrix.label != 'ubuntu-24.04-clang-18' }}
run: bash ./.github/workflows/build_steps.sh npm_ci
# Exclude platforms covered by the `wasm` job.
- name: Setup Emscripten for WASM bindings
if: ${{ runner.os == 'Linux' && matrix.label != 'ubuntu-24.04-clang-18' }}
run: bash ./.github/workflows/build_steps.sh setup_emsdk
@@ -238,6 +244,28 @@ jobs:
CMAKE_BUILD_ARGS: ${{ matrix.cmake_build_args }}
run: bash ../../.github/workflows/build_steps.sh build_simulate
# Exclude platforms covered by the `studio` job.
# Exclude macos-15-x86_64 because we don't have a way maintain/develop the build locally.
- name: Configure Studio
if: ${{ matrix.label != 'windows-2025' &&
matrix.label != 'macos-15-arm64' &&
matrix.label != 'macos-15-x86_64' }}
env:
CMAKE_ARGS: ${{ matrix.cmake_args }}
run: bash ./.github/workflows/build_steps.sh configure_studio
# Exclude platforms covered by the `studio` job.
# Exclude macos-15-x86_64 because we don't have a way maintain/develop the build locally.
# TODO(haroonq): Fix Filament compilation for GCC<=12?
- name: Build Studio
if: ${{ matrix.label != 'windows-2025' &&
matrix.label != 'macos-15-arm64' &&
matrix.label != 'macos-15-x86_64' &&
matrix.label != 'ubuntu-22.04-gcc-10' &&
matrix.label != 'ubuntu-22.04-gcc-11' &&
matrix.label != 'ubuntu-22.04-gcc-12' }}
run: bash ./.github/workflows/build_steps.sh build_studio
- name: Make Python sdist
shell: bash
working-directory: python
@@ -270,6 +298,7 @@ jobs:
TMPDIR: ${{ matrix.tmpdir }}
run: bash ./.github/workflows/build_steps.sh test_python_bindings
# Exclude platforms covered by the `wasm` job.
- name: Build and Test WASM bindings
if: ${{ runner.os == 'Linux' && matrix.label != 'ubuntu-24.04-clang-18' }}
shell: bash
@@ -311,8 +340,75 @@ jobs:
if: ${{ failure() && github.event_name == 'push' && env.GCHAT_API_URL != '' }}
run: bash ./.github/workflows/build_steps.sh notify_team_chat
# This job is used to quickly determine if the WASM build is broken,
# by only testing it on a single platform.
# This job quickly determines if MuJoCo Studio is broken.
studio:
strategy:
fail-fast: false
matrix:
include:
- os: ubuntu-24.04
label: "ubuntu-24.04-clang-18-studio"
cmake_args: >-
-G Ninja
-DCMAKE_C_COMPILER:STRING=clang-18
-DCMAKE_CXX_COMPILER:STRING=clang++-18
-DMUJOCO_HARDEN:BOOL=ON
- os: windows-2025
label: "windows-2025-ninja-studio"
cmake_args: >-
-G Ninja
-DCMAKE_SYSTEM_VERSION=10.0.26100.0
- os: macos-15
label: "macos-15-arm64-studio"
cmake_args: >-
-G Ninja
-DCMAKE_CXX_FLAGS="-Wno-error=deprecated-declarations"
-DMUJOCO_HARDEN:BOOL=ON
name: "${{ matrix.label }}"
runs-on: ${{ matrix.os }}
steps:
- uses: actions/checkout@v3
- name: Prepare Windows (setup MSVC)
if: ${{ runner.os == 'Windows' }}
uses: ilammy/msvc-dev-cmd@v1
- name: Prepare Linux
if: ${{ runner.os == 'Linux' }}
run: bash ./.github/workflows/build_steps.sh prepare_linux
- name: Configure Studio with legacy OpenGL rendering
env:
CMAKE_ARGS: ${{ matrix.cmake_args }}
run: bash ./.github/workflows/build_steps.sh configure_studio_legacy_opengl
- name: Build Studio with legacy OpenGL rendering
run: bash ./.github/workflows/build_steps.sh build_studio
- name: Configure Studio with Filament rendering
env:
CMAKE_ARGS: ${{ matrix.cmake_args }}
run: bash ./.github/workflows/build_steps.sh configure_studio
- name: Build Studio with Filament rendering
run: bash ./.github/workflows/build_steps.sh build_studio
- name: Notify team chat
shell: bash
env:
GCHAT_API_URL: ${{ secrets.GCHAT_API }}
JOB_URL: "${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }}"
CHATMSG_AUTHOR_NAME: ${{ github.event.head_commit.author.name }}
CHATMSG_AUTHOR_EMAIL: ${{ github.event.head_commit.author.email }}
CHATMSG_COMMIT_MESSAGE: ${{ github.event.head_commit.message }}
CHATMSG_JOB_ID: ${{ matrix.label }}
if: ${{ failure() && github.event_name == 'push' && env.GCHAT_API_URL != '' }}
run: bash ./.github/workflows/build_steps.sh notify_team_chat
# This job quickly determines if WASM bindings are broken.
wasm:
name: "ubuntu-24.04-clang-18-wasm"
runs-on: ubuntu-24.04
@@ -326,25 +422,23 @@ jobs:
steps:
- uses: actions/checkout@v3
- name: Prepare Linux
run: bash ./.github/workflows/build_steps.sh prepare_linux
- name: Setup Node.js for WASM bindings
uses: actions/setup-node@v4
with:
node-version: '20'
- name: Install NPM Dependencies for WASM bindings
run: bash ./.github/workflows/build_steps.sh npm_ci
- name: Prepare Linux
if: ${{ runner.os == 'Linux' }}
run: bash ./.github/workflows/build_steps.sh prepare_linux
- name: Setup Emscripten for WASM bindings
run: bash ./.github/workflows/build_steps.sh setup_emsdk
- name: Build and Test WASM bindings
shell: bash
# For convenience run multiple build_steps functions in a single step.
- name: Prepare, Build and Test WASM bindings
env:
CMAKE_ARGS: ${{ env.cmake_args }}
run: bash ./.github/workflows/build_steps.sh build_test_wasm
run: |
bash ./.github/workflows/build_steps.sh npm_ci
bash ./.github/workflows/build_steps.sh setup_emsdk
bash ./.github/workflows/build_steps.sh build_test_wasm
- name: Notify team chat
shell: bash
.github/workflows/build_steps.sh
+46 -1
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@@ -13,6 +13,9 @@
# See the License for the specific language governing permissions and
# limitations under the License.
# TODO(matijak): Make all cmake commands run from the top-level directory, and
# consider making the builds parallel.
prepare_linux() {
echo "Preparing Linux..."
@@ -142,6 +145,49 @@ build_simulate() {
}
_configure_studio() {
# Invoke cmake will all options OFF assuming that the caller will enable
# needed options by running `export _CONFIGURE_STUDIO_CMAKE_ARGS=...` first
cmake -B build \
-DCMAKE_BUILD_TYPE:STRING=Release \
-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF \
-DUSE_STATIC_LIBCXX=OFF \
-DBUILD_SHARED_LIBS=OFF \
-DMUJOCO_BUILD_EXAMPLES=OFF \
-DMUJOCO_BUILD_SIMULATE=OFF \
-DMUJOCO_BUILD_STUDIO=OFF \
-DMUJOCO_BUILD_TESTS=OFF \
-DMUJOCO_TEST_PYTHON_UTIL=OFF \
-DMUJOCO_WITH_USD=OFF \
-DMUJOCO_USE_FILAMENT=OFF \
-DMUJOCO_USE_FILAMENT_VULKAN=OFF \
${_CONFIGURE_STUDIO_CMAKE_ARGS}
}
configure_studio_legacy_opengl() {
echo "Configuring Studio (legacy OpenGL)..."
export _CONFIGURE_STUDIO_CMAKE_ARGS="-DMUJOCO_BUILD_STUDIO=ON ${CMAKE_ARGS}"
_configure_studio
echo "Configuring Studio (legacy OpenGL)... DONE"
}
configure_studio() {
echo "Configuring Studio..."
export _CONFIGURE_STUDIO_CMAKE_ARGS="-DMUJOCO_BUILD_STUDIO=ON -DMUJOCO_USE_FILAMENT=ON ${CMAKE_ARGS}"
_configure_studio
echo "Configuring Studio... DONE"
}
build_studio() {
echo "Building Studio..."
cmake --build build --config=Release --target mujoco_studio --parallel
echo "Building Studio... DONE"
}
make_python_sdist() {
echo "Making Python sdist..."
source ${TMPDIR}/venv/bin/activate &&
@@ -245,7 +291,6 @@ if [[ ! " ${VALID_FUNCTIONS[*]} " =~ " ${1} " ]]; then
exit 1
fi
# Set options to print the commands being run, and cause the script to exit with
# an error code if any command fails. Note we do this just before executing
# the requested function to avoid cluttering the output with the above command