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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