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Add plugin support to Python bindings.

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PiperOrigin-RevId: 480675078
Change-Id: I2967654b6662efced8ae62cae9b03c6c8e65c67c
This commit is contained in:
Alessio Quaglino
2022-10-12 11:29:37 -07:00
committed by Copybara-Service
parent 23e4c03efc
commit 95fe2fbc40
5 changed files with 76 additions and 3 deletions
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.github/workflows/build.yml
+11
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@@ -143,6 +143,16 @@ jobs:
- name: Install MuJoCo
working-directory: build
run: cmake --install .
- name: Copy plugins (POSIX)
if: ${{ runner.os != 'Windows' }}
working-directory: build
run: mkdir -p ${{ matrix.tmpdir }}/mujoco_install/plugin &&
cp lib/libcable.* ${{ matrix.tmpdir }}/mujoco_install/plugin
- name: Copy plugins (Windows)
if: ${{ runner.os == 'Windows' }}
working-directory: build
run: mkdir -p ${{ matrix.tmpdir }}/mujoco_install/plugin &&
cp bin/Release/cable.dll ${{ matrix.tmpdir }}/mujoco_install/plugin
- name: Configure samples
working-directory: sample
run: >
@@ -180,6 +190,7 @@ jobs:
run: >
source ${{ matrix.tmpdir }}/venv/bin/activate &&
MUJOCO_PATH="${{ matrix.tmpdir }}/mujoco_install"
MUJOCO_PLUGIN_PATH="${{ matrix.tmpdir }}/mujoco_install/plugin"
MUJOCO_CMAKE_ARGS="-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF ${{ matrix.cmake_args }}"
pip wheel -v --no-deps mujoco-*.tar.gz
- name: Install Python bindings