Build Python bindings in build.yml.

We currently skip building the Python bindings on Windows since MSVC takes an hour+ on them. Internally, we use Clang for our Windows build, so are not affected by this issue.

PiperOrigin-RevId: 450914163
Change-Id: I329aab28f3a2aeb1896242a8712f89d8ecff2f92

.github/workflows/build.yml

@@ -2,6 +2,9 @@
 # It is not the same configuration that is used by DeepMind to create release binaries.
 # The "official" binaries are built with Clang 13 on all platforms, and are linked against libc++
 # on Linux.
+#
+# We set CMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF here to reduce build time.
+# It is highly recommended that this is set to ON for production builds.
 
 name: build
 
@@ -16,46 +19,122 @@ jobs:
     strategy:
       matrix:
         include:
-          - os: ubuntu-20.04
+          - os: ubuntu-22.04
-            additional_label: "with GCC 10"
+            additional_label: "with GCC 11"
-            cmake_args: "-G Ninja -DCMAKE_C_COMPILER:STRING=gcc-10 -DCMAKE_CXX_COMPILER:STRING=g++-10"
+            cmake_args: >-
-          - os: ubuntu-20.04
+              -G Ninja
+              -DCMAKE_C_COMPILER:STRING=gcc-11
+              -DCMAKE_CXX_COMPILER:STRING=g++-11
+            tmpdir: "/tmp"
+          - os: ubuntu-22.04
             additional_label: "with Clang 12"
-            cmake_args: "-G Ninja -DCMAKE_C_COMPILER:STRING=clang-12 -DCMAKE_CXX_COMPILER:STRING=clang++-12 -DMUJOCO_HARDEN:BOOL=ON"
+            cmake_args: >-
+              -G Ninja
+              -DCMAKE_C_COMPILER:STRING=clang-12
+              -DCMAKE_CXX_COMPILER:STRING=clang++-12
+              -DMUJOCO_HARDEN:BOOL=ON
+            tmpdir: "/tmp"
           - os: macos-12
-            cmake_args: "-G Ninja -DMUJOCO_HARDEN:BOOL=ON"
+            cmake_args: >-
+              -G Ninja
+              -DMUJOCO_HARDEN:BOOL=ON
+            tmpdir: "/tmp"
           - os: windows-2022
-            cmake_build_args: "-- /MP"
+            cmake_build_args: "-- -m"
+            tmpdir: "C:/Temp"
 
     name: "MuJoCo on ${{ matrix.os }} ${{ matrix.additional_label }}"
     runs-on: ${{ matrix.os }}
-    env:
-      CMAKE_ARGS: ${{ matrix.cmake_args }}
-      CMAKE_BUILD_ARGS: ${{ matrix.cmake_build_args }}
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
     - name: Prepare Linux
       if: ${{ runner.os == 'Linux' }}
-      run: |
+      run: >
-        sudo apt-get install \
+        sudo apt-get install
-            libgl1-mesa-dev \
+        libgl1-mesa-dev
-            libxinerama-dev \
+        libxinerama-dev
-            libxcursor-dev \
+        libxcursor-dev
-            libxrandr-dev \
+        libxrandr-dev
-            libxi-dev \
+        libxi-dev
-            ninja-build
+        ninja-build
     - name: Prepare macOS
       if: ${{ runner.os == 'macOS' }}
       run: brew install ninja
-    - name: Configure
+    - uses: actions/setup-python@v3
+      with:
+        python-version: "3.10"
+    - name: Prepare Python
+      shell: bash
       run: |
-        mkdir build
+        cd ${{ matrix.tmpdir }}
-        cd build
+        python -m venv venv
-        cmake .. -DCMAKE_BUILD_TYPE:STRING=Release $CMAKE_ARGS
+        if [[ $RUNNER_OS == "Windows" ]]; then
-    - name: Build
+        mkdir venv/bin
+        fixpath="$(s="$(cat venv/Scripts/activate | grep VIRTUAL_ENV=)"; echo "${s:13:-1}")"
+        sed -i "s#$(printf "%q" "${fixpath}")#$(cygpath "${fixpath}")#g" venv/Scripts/activate
+        ln -s ../Scripts/activate venv/bin/activate
+        fi
+        source venv/bin/activate
+        python -m pip install --upgrade pip
+        pip install pytest wheel
+    - name: Configure MuJoCo
+      run: >
+        mkdir build &&
+        cd build &&
+        cmake ..
+        -DCMAKE_BUILD_TYPE:STRING=Release
+        -DCMAKE_INSTALL_PREFIX:STRING=${{ matrix.tmpdir }}/mujoco_install
+        -DMUJOCO_BUILD_EXAMPLES:BOOL=OFF
+        ${{ matrix.cmake_args }}
+    - name: Build MuJoCo
       working-directory: build
-      run: cmake --build . --config=Release $CMAKE_BUILD_ARGS
+      run: cmake --build . --config=Release ${{ matrix.cmake_build_args }}
-    - name: Test
+    - name: Test MuJoCo
       working-directory: build
       run: ctest -C Release .
+    - name: Install MuJoCo
+      working-directory: build
+      run: cmake --install .
+    - name: Configure samples
+      working-directory: sample
+      run: >
+        mkdir build &&
+        cd build &&
+        cmake ..
+        -DCMAKE_BUILD_TYPE:STRING=Release
+        -Dmujoco_ROOT:STRING=${{ matrix.tmpdir }}/mujoco_install
+        ${{ matrix.cmake_args }}
+    - name: Build samples
+      working-directory: sample/build
+      run: cmake --build . --config=Release ${{ matrix.cmake_build_args }}
+    - name: Make Python sdist
+      shell: bash
+      working-directory: python
+      run: >
+        source ${{ matrix.tmpdir }}/venv/bin/activate &&
+        ./make_sdist.sh
+    - name: Build Python bindings
+      if: ${{ runner.os != 'Windows' }}
+      shell: bash
+      working-directory: python/dist
+      run: >
+        source ${{ matrix.tmpdir }}/venv/bin/activate &&
+        MUJOCO_PATH="${{ matrix.tmpdir }}/mujoco_install"
+        MUJOCO_CMAKE_ARGS="-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF ${{ matrix.cmake_args }}"
+        pip wheel -v --no-deps mujoco-*.tar.gz
+    - name: Install Python bindings
+      if: ${{ runner.os != 'Windows' }}
+      shell: bash
+      working-directory: python/dist
+      run: >
+        source ${{ matrix.tmpdir }}/venv/bin/activate &&
+        pip install mujoco-*.whl
+    - name: Test Python bindings
+      if: ${{ runner.os != 'Windows' }}
+      shell: bash
+      env:
+        MUJOCO_GL: disable
+      run: >
+        source ${{ matrix.tmpdir }}/venv/bin/activate &&
+        pytest -v --pyargs mujoco

python/make_sdist.sh

@@ -21,7 +21,7 @@ fi
 # Figure out the path to this script (https://stackoverflow.com/a/246128).
 package_dir="$(cd -- "$(dirname "${BASH_SOURCE[0]}")" >/dev/null 2>&1 && pwd)"
 
-if [[ "$(uname)" == CYGWIN* ]]; then
+if [[ "$(uname)" == CYGWIN* || "$(uname)" == MINGW* ]]; then
   package_dir="$(cygpath -m ${package_dir})"
   readonly tmp_dir="$(TMPDIR="${LOCALAPPDATA//\\/$'/'}/Temp" mktemp -d)"
 else
@@ -35,7 +35,7 @@ cp -r "${package_dir}"/* .
 
 # Generate header files.
 old_pythonpath="${PYTHONPATH}"
-if [[ "$(uname)" == CYGWIN* ]]; then
+if [[ "$(uname)" == CYGWIN* || "$(uname)" == MINGW* ]]; then
   export PYTHONPATH="${old_pythonpath};${package_dir}/.."
 else
   export PYTHONPATH="${old_pythonpath}:${package_dir}/.."

python/mujoco/enums.cc

@@ -28,8 +28,7 @@ namespace mujoco::python {
 namespace {
 namespace py = ::pybind11;
 
-MUJOCO_ALWAYS_INLINE
+inline void ZeroDenominatorCheck(double b) {
-void ZeroDenominatorCheck(double b) {
   if (b == 0) {
     PyErr_SetString(PyExc_ZeroDivisionError, "division by zero");
     throw py::error_already_set();
@@ -37,14 +36,12 @@ void ZeroDenominatorCheck(double b) {
 }
 
 template <typename T>
-MUJOCO_ALWAYS_INLINE
+inline T FloorDiv(T a, T b) {
-T FloorDiv(T a, T b) {
   ZeroDenominatorCheck(b);
   return std::floor(static_cast<double>(a) / static_cast<double>(b));
 }
 
 template <typename Trait>
-MUJOCO_ALWAYS_INLINE
 void DefEnum(py::module_& m) {
   py::enum_<typename Trait::type> e(m, Trait::name);
   for (const auto& [name, enumerator] : Trait::values) {
@@ -137,7 +134,6 @@ void DefEnum(py::module_& m) {
 }
 
 template <typename Tuple>
-MUJOCO_ALWAYS_INLINE
 void DefAllEnums(py::module_& m, Tuple&& tuple) {
   using TupleNoRef = std::remove_reference_t<Tuple>;
   if constexpr (std::tuple_size_v<TupleNoRef> != 0) {

python/mujoco/util/crossplatform.h

@@ -55,11 +55,6 @@
     _Pragma("clang diagnostic ignored \"-Wunused-lambda-capture\"")
 #define MUJOCO_DIAG_UNIGNORE_UNUSED_LAMBDA_CAPTURE \
     _Pragma("clang diagnostic pop")
-#elif defined(__GNUC__)
-#define MUJOCO_DIAG_IGNORE_UNUSED_LAMBDA_CAPTURE                  \
-    _Pragma("GCC diagnostic push")                                \
-    _Pragma("GCC diagnostic ignored \"-Wunused-lambda-capture\"")
-#define MUJOCO_DIAG_UNIGNORE_UNUSED_LAMBDA_CAPTURE _Pragma("GCC diagnostic pop")
 #else
 #define MUJOCO_DIAG_IGNORE_UNUSED_LAMBDA_CAPTURE
 #define MUJOCO_DIAG_UNIGNORE_UNUSED_LAMBDA_CAPTURE

python/setup.py

@@ -196,9 +196,8 @@ class BuildCMakeExtension(build_ext.build_ext):
         f'-DCMAKE_MODULE_PATH:PATH={cmake_module_path}',
         f'-DCMAKE_BUILD_TYPE:STRING={build_cfg}',
         f'-DCMAKE_LIBRARY_OUTPUT_DIRECTORY:PATH={self.build_temp}',
-        f'-DCMAKE_INTERPROCEDURAL_OPTIMIZATION=:BOOL{"OFF" if self.debug else "ON"}',
+        f'-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL={"OFF" if self.debug else "ON"}',
         '-DCMAKE_Fortran_COMPILER:STRING=',
-        '-DCMAKE_VERBOSE_MAKEFILE:BOOL=ON',
         '-DBUILD_TESTING:BOOL=OFF',
     ]