chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Refactor Github actions so that all build steps are implemented as functions in a separate build_steps.sh file.

Browse Source 
This reduces the amount to yaml we need to know/write and makes the steps reusable in a clearer way than yaml anchors. Also Made sure that bash commands are executed with -xe set to log the command before executing and to fail the script on the first failing command.

PiperOrigin-RevId: 831823786
Change-Id: I7410c13decb914ef079ac4dd19a49481c452f3ec
This commit is contained in:
Matija Kecman
2025-11-13 05:56:11 -08:00
committed by Copybara-Service
parent 8b9fa2674c
commit b0e75b7103
2 changed files with 318 additions and 149 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.github/workflows/build.yml
+62 -149
View File
@@ -139,16 +139,7 @@ jobs:
- name: Prepare Linux
if: ${{ runner.os == 'Linux' }}
run: >
sudo apt-get update && sudo apt-get install
libgl1-mesa-dev
libwayland-dev
libxinerama-dev
libxcursor-dev
libxkbcommon-dev
libxrandr-dev
libxi-dev
ninja-build
run: bash ./.github/workflows/build_steps.sh prepare_linux
- name: Prepare macOS
if: ${{ runner.os == 'macOS' }}
@@ -160,19 +151,9 @@ jobs:
- name: Prepare Python
shell: bash
run: |
repo="${PWD}"
cd ${{ matrix.tmpdir }}
python -m venv venv
if [[ $RUNNER_OS == "Windows" ]]; then
mkdir venv/bin
fixpath="$(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 --require-hashes -r "${repo}/python/build_requirements.txt"
python -m pip install --upgrade --require-hashes -r "${repo}/python/build_requirements_usd.txt"
env:
TMPDIR: ${{ matrix.tmpdir }}
run: bash ./.github/workflows/build_steps.sh prepare_python
- name: Setup Node.js for WASM bindings
if: ${{ runner.os == 'Linux' && matrix.label != 'ubuntu-24.04-clang-18' }}
@@ -182,31 +163,23 @@ jobs:
- name: Install NPM Dependencies for WASM bindings
if: ${{ runner.os == 'Linux' && matrix.label != 'ubuntu-24.04-clang-18' }}
working-directory: wasm
run: |
npm ci
run: bash ./.github/workflows/build_steps.sh npm_ci
- name: Setup Emscripten for WASM bindings
if: ${{ runner.os == 'Linux' && matrix.label != 'ubuntu-24.04-clang-18' }}
run: |
git clone https://github.com/emscripten-core/emsdk.git
./emsdk/emsdk install 4.0.10
./emsdk/emsdk activate 4.0.10
run: bash ./.github/workflows/build_steps.sh setup_emsdk
- name: Configure MuJoCo
run: >
mkdir build &&
cd build &&
cmake ..
-DCMAKE_BUILD_TYPE:STRING=Release
-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF
-DCMAKE_INSTALL_PREFIX:STRING=${{ matrix.tmpdir }}/mujoco_install
-DMUJOCO_BUILD_EXAMPLES:BOOL=OFF
${{ matrix.cmake_args }}
env:
TMPDIR: ${{ matrix.tmpdir }}
CMAKE_ARGS: ${{ matrix.cmake_args }}
run: bash ./.github/workflows/build_steps.sh configure_mujoco
- name: Build MuJoCo
working-directory: build
run: cmake --build . --config=Release ${{ matrix.cmake_build_args }}
env:
CMAKE_BUILD_ARGS: ${{ matrix.cmake_build_args }}
run: bash ../.github/workflows/build_steps.sh build_mujoco
- name: Copy in the correct VC runtime DLLs (workaround for actions/runner-images#10004)
if: ${{ runner.os == 'Windows' }}
@@ -221,39 +194,32 @@ jobs:
- name: Test MuJoCo
working-directory: build
run: ctest -C Release --output-on-failure .
run: bash ../.github/workflows/build_steps.sh test_mujoco
- name: Install MuJoCo
working-directory: build
run: cmake --install .
run: bash ../.github/workflows/build_steps.sh install_mujoco
- name: Copy plugins (POSIX)
if: ${{ runner.os != 'Windows' }}
working-directory: build
run: mkdir -p ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin &&
cp lib/libactuator.* ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin &&
cp lib/libelasticity.* ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin &&
cp lib/libsensor.* ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin &&
cp lib/libsdf_plugin.* ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin
env:
TMPDIR: ${{ matrix.tmpdir }}
run: bash ../.github/workflows/build_steps.sh copy_plugins_posix
- name: Copy plugins (Windows)
if: ${{ runner.os == 'Windows' }}
working-directory: build
run: mkdir -p ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin &&
cp bin/Release/actuator.dll ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin &&
cp bin/Release/elasticity.dll ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin &&
cp bin/Release/sensor.dll ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin
env:
TMPDIR: ${{ matrix.tmpdir }}
run: bash ../.github/workflows/build_steps.sh copy_plugins_window
- name: Configure samples
working-directory: sample
run: >
mkdir build &&
cd build &&
cmake ..
-DCMAKE_BUILD_TYPE:STRING=Release
-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF
-Dmujoco_ROOT:STRING=${{ matrix.tmpdir }}/mujoco_install
${{ matrix.cmake_args }}
env:
TMPDIR: ${{ matrix.tmpdir }}
CMAKE_ARGS: ${{ matrix.cmake_args }}
run: bash ../.github/workflows/build_steps.sh configure_samples
- name: Build samples
working-directory: sample/build
@@ -261,90 +227,77 @@ jobs:
- name: Configure simulate
working-directory: simulate
run: >
mkdir build &&
cd build &&
cmake ..
-DCMAKE_BUILD_TYPE:STRING=Release
-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF
-Dmujoco_ROOT:STRING=${{ matrix.tmpdir }}/mujoco_install
${{ matrix.cmake_args }}
env:
TMPDIR: ${{ matrix.tmpdir }}
CMAKE_ARGS: ${{ matrix.cmake_args }}
run: bash ../.github/workflows/build_steps.sh configure_simulate
- name: Build simulate
working-directory: simulate/build
run: cmake --build . --config=Release ${{ matrix.cmake_build_args }}
env:
CMAKE_BUILD_ARGS: ${{ matrix.cmake_build_args }}
run: bash ../../.github/workflows/build_steps.sh build_simulate
- name: Make Python sdist
shell: bash
working-directory: python
run: >
source ${{ matrix.tmpdir }}/venv/bin/activate &&
./make_sdist.sh
env:
TMPDIR: ${{ matrix.tmpdir }}
run: bash ../.github/workflows/build_steps.sh make_python_sdist
- 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_PLUGIN_PATH="${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin"
MUJOCO_CMAKE_ARGS="-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF ${{ matrix.cmake_args }}"
pip wheel -v --no-deps mujoco-*.tar.gz
env:
TMPDIR: ${{ matrix.tmpdir }}
CMAKE_ARGS: ${{ matrix.cmake_args }}
run: bash ../../.github/workflows/build_steps.sh build_python_bindings
- name: Install Python bindings
if: ${{ runner.os != 'Windows' }}
shell: bash
working-directory: python/dist
run: >
source ${{ matrix.tmpdir }}/venv/bin/activate &&
pip install --no-index mujoco-*.whl
env:
TMPDIR: ${{ matrix.tmpdir }}
run: bash ../../.github/workflows/build_steps.sh install_python_bindings
- 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
TMPDIR: ${{ matrix.tmpdir }}
run: bash ./.github/workflows/build_steps.sh test_python_bindings
- name: Build and Test WASM bindings
if: ${{ runner.os == 'Linux' && matrix.label != 'ubuntu-24.04-clang-18' }}
shell: bash
run: |
source emsdk/emsdk_env.sh
export PATH="$(pwd)/node_modules/.bin:$PATH"
emcmake cmake -B build_wasm -DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF
cmake --build build_wasm
npm run test --prefix ./wasm
run: bash ./.github/workflows/build_steps.sh build_test_wasm
- name: Package MJX
if: ${{ runner.os != 'Windows' }}
shell: bash
working-directory: mjx
run:
source ${{ matrix.tmpdir }}/venv/bin/activate &&
python -m build .
env:
TMPDIR: ${{ matrix.tmpdir }}
run: bash ../.github/workflows/build_steps.sh package_mjx
- name: Install MJX
if: ${{ runner.os != 'Windows' }}
shell: bash
working-directory: mjx
run:
source ${{ matrix.tmpdir }}/venv/bin/activate &&
pip install --require-hashes -r requirements.txt &&
pip install --no-index dist/mujoco_mjx-*.whl
env:
TMPDIR: ${{ matrix.tmpdir }}
run: bash ../.github/workflows/build_steps.sh install_mjx
- name: Test MJX
if: ${{ runner.os != 'Windows' }}
shell: bash
working-directory: mjx
run:
source ${{ matrix.tmpdir }}/venv/bin/activate &&
pytest -n auto -v -k 'not IntegrationTest' --pyargs mujoco.mjx
env:
TMPDIR: ${{ matrix.tmpdir }}
run: bash ../.github/workflows/build_steps.sh test_mjx
- name: Notify team chat
shell: bash
@@ -356,28 +309,7 @@ jobs:
CHATMSG_COMMIT_MESSAGE: ${{ github.event.head_commit.message }}
CHATMSG_JOB_ID: ${{ matrix.label }}
if: ${{ failure() && github.event_name == 'push' && env.GCHAT_API_URL != '' }}
run: &notify_team_chat |
CHATMSG="$(cat <<-'EOF' | python3
import json
import os
env = lambda x: os.getenv(x, '')
data = dict(
result=env('JOB_URL'),
job=env('CHATMSG_JOB_ID'),
commit=env('GITHUB_SHA')[:6],
name=env('CHATMSG_AUTHOR_NAME').replace('```', ''),
email=env('CHATMSG_AUTHOR_EMAIL'),
msg=env('CHATMSG_COMMIT_MESSAGE').replace('```', '')
)
text = '<{result}|*FAILURE*>: job `{job}` commit `{commit}`\n```Author: {name} <{email}>\n\n{msg}```'.format(**data)
print(json.dumps({'text' : text}))
EOF
)" &&
curl "$GCHAT_API_URL&threadKey=$GITHUB_SHA&messageReplyOption=REPLY_MESSAGE_FALLBACK_TO_NEW_THREAD" \
-X POST \
-H "Content-Type: application/json" \
--data-raw "${CHATMSG}"
run: bash ./.github/workflows/build_steps.sh notify_team_chat
# This job is used to quickly determine if the WASM build is broken,
# by only testing it on a single platform.
@@ -395,16 +327,7 @@ jobs:
- uses: actions/checkout@v3
- name: Prepare Linux
run: >
sudo apt-get update && sudo apt-get install
libgl1-mesa-dev
libwayland-dev
libxinerama-dev
libxcursor-dev
libxkbcommon-dev
libxrandr-dev
libxi-dev
ninja-build
run: bash ./.github/workflows/build_steps.sh prepare_linux
- name: Setup Node.js for WASM bindings
uses: actions/setup-node@v4
@@ -412,26 +335,16 @@ jobs:
node-version: '20'
- name: Install NPM Dependencies for WASM bindings
working-directory: wasm
run: |
npm ci
run: bash ./.github/workflows/build_steps.sh npm_ci
- name: Setup Emscripten for WASM bindings
run: |
git clone https://github.com/emscripten-core/emsdk.git
./emsdk/emsdk install 4.0.10
./emsdk/emsdk activate 4.0.10
run: bash ./.github/workflows/build_steps.sh setup_emsdk
- name: Build and Test WASM bindings
shell: bash
run: |
source emsdk/emsdk_env.sh
export PATH="$(pwd)/node_modules/.bin:$PATH"
emcmake cmake -B build_wasm -DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF $cmake_args
cmake --build build_wasm
npm run test --prefix ./wasm
env:
CMAKE_ARGS: ${{ env.cmake_args }}
run: bash ./.github/workflows/build_steps.sh build_test_wasm
- name: Notify team chat
shell: bash
@@ -443,4 +356,4 @@ jobs:
CHATMSG_COMMIT_MESSAGE: ${{ github.event.head_commit.message }}
CHATMSG_JOB_ID: ${{ env.label }}
if: ${{ failure() && github.event_name == 'push' && env.GCHAT_API_URL != '' }}
run: *notify_team_chat
run: bash ./.github/workflows/build_steps.sh notify_team_chat