refactor(web-platform): release V0.6 精简代码

2026-08-28 14:10:16 +08:00
parent 8e3d56d619
commit f4b415c54f
2283 changed files with 208 additions and 962948 deletions
@@ -1,447 +0,0 @@
-# This configuration is used to build and test on GitHub Actions only.
-# It is not the same configuration that is used by Google 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.
-#
-# Build speed notes:
-#   * The compiler matrix lives in build_matrix.json. Pull requests build the
-#     representative "core" subset; pushes to main run the full compiler sweep.
-#     (See generate_matrix() in build_steps.sh.)
-#   * Studio/Filament and WASM are NOT built in the main matrix - they are covered
-#     by the dedicated `studio` and `wasm` jobs below. WASM in particular is built
-#     with emcc, which ignores the host compiler, so building it per-compiler added
-#     no coverage.
-#   * ccache is used to wrap the compiler. PR branches fall back to main's cache, so
-#     the expensive (and pinned) Filament build is restored rather than recompiled.
-
-# 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:
-  push:
-    branches:
-      - main
-    paths-ignore:
-      - "doc/**"
-      - "**/README.md"
-  pull_request:
-    paths-ignore:
-      - "doc/**"
-      - "**/README.md"
-
-# Limit the default GITHUB_TOKEN to read-only. No job here writes via the token:
-# checkout reads the repo; ccache/cache and upload-artifact use their own backend
-# tokens; the chat notification uses a secret webhook.
-permissions:
-  contents: read
-
-jobs:
-  # Compute the build matrix based on the event: PRs get the "core" representative
-  # compiler set, pushes to main get the full sweep.
-  setup:
-    name: "setup (compute matrix)"
-    runs-on: ubuntu-latest
-    outputs:
-      matrix: ${{ steps.generate.outputs.matrix }}
-    steps:
-    - uses: actions/checkout@v6
-    - name: Generate build matrix
-      id: generate
-      env:
-        GITHUB_EVENT_NAME: ${{ github.event_name }}
-      run: bash ./.github/workflows/build_steps.sh generate_matrix
-
-  mujoco:
-    needs: setup
-    strategy:
-      fail-fast: false
-      matrix: ${{ fromJson(needs.setup.outputs.matrix) }}
-
-    name: "${{ matrix.label }}"
-    runs-on: ${{ matrix.os }}
-
-    steps:
-    - uses: actions/checkout@v6
-
-    - name: Prepare Linux
-      if: ${{ runner.os == 'Linux' }}
-      run: bash ./.github/workflows/build_steps.sh prepare_linux
-
-    - name: Prepare macOS
-      if: ${{ runner.os == 'macOS' }}
-      run: brew install ninja
-
-    - uses: actions/setup-python@v6
-      with:
-        python-version: "3.11"
-
-    # uv makes the dependency install much faster, with a cross-run cache. POSIX
-    # only: Windows stays on pip (it is not a Python-setup bottleneck, and this
-    # keeps the venv activate fixup path untouched there).
-    - name: Install uv
-      if: ${{ runner.os != 'Windows' }}
-      uses: astral-sh/setup-uv@v8.2.0
-      with:
-        enable-cache: true
-        cache-dependency-glob: "python/build_requirements*.txt"
-
-    - name: Prepare Python
-      shell: bash
-      env:
-        TMPDIR: ${{ matrix.tmpdir }}
-      run: bash ./.github/workflows/build_steps.sh prepare_python
-
-    # ccache dramatically speeds up warm rebuilds. The key is the matrix label so
-    # each compiler gets its own cache; the action's restore-keys let PR branches
-    # fall back to main's cache. ccache on Windows/MSVC is finicky and Windows
-    # isn't the bottleneck, so we skip it there.
-    - name: Setup ccache
-      if: ${{ runner.os != 'Windows' }}
-      uses: hendrikmuhs/ccache-action@v1.2.23
-      with:
-        key: ${{ matrix.label }}
-        max-size: "1.5G"
-
-    - name: Configure MuJoCo
-      env:
-        TMPDIR: ${{ matrix.tmpdir }}
-        CMAKE_ARGS: ${{ matrix.cmake_args }}
-      run: bash ./.github/workflows/build_steps.sh configure_mujoco
-
-    - name: Upload CMake Configure Log
-      if: always()
-      uses: actions/upload-artifact@v7
-      with:
-        name: cmake-configure-log-${{ matrix.label }}
-        path: build/CMakeFiles/CMakeConfigureLog.yaml
-        retention-days: 5
-
-    - name: Build MuJoCo
-      working-directory: build
-      env:
-        CMAKE_BUILD_ARGS: ${{ matrix.cmake_build_args }}
-      run: bash ../.github/workflows/build_steps.sh build_mujoco
-
-    - name: Test MuJoCo
-      working-directory: build
-      run: bash ../.github/workflows/build_steps.sh test_mujoco
-
-    - name: Install MuJoCo
-      working-directory: build
-      run: bash ../.github/workflows/build_steps.sh install_mujoco
-
-    - name: Copy plugins (POSIX)
-      if: ${{ runner.os != 'Windows' }}
-      working-directory: build
-      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
-      env:
-        TMPDIR: ${{ matrix.tmpdir }}
-      run: bash ../.github/workflows/build_steps.sh copy_plugins_window
-
-    - name: Configure samples
-      working-directory: sample
-      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
-      run: cmake --build . --config=Release ${{ matrix.cmake_build_args }}
-
-    - name: Configure simulate
-      working-directory: simulate
-      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
-      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
-      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
-      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
-      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
-        TMPDIR: ${{ matrix.tmpdir }}
-      run: bash ./.github/workflows/build_steps.sh test_python_bindings
-
-    # MJX (mujoco.mjx) is covered by the dedicated `mjx` job below; it is
-    # compiler-independent so it does not need to run in every matrix job.
-
-    - 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: ${{ matrix.label }}
-      if: failure() && github.ref_name == 'main' && github.event_name == 'push' && env.GCHAT_API_URL != ''
-      run: bash ./.github/workflows/build_steps.sh notify_team_chat
-
-  # This job quickly determines if MuJoCo Studio is broken. It is the only place
-  # Filament is compiled in CI, so ccache here is what keeps the long pole short.
-  studio:
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: ubuntu-24.04
-            label: "ubuntu-24.04-clang-18-studio"
-            cmake_args: >-
-              -G Ninja
-              -DCMAKE_C_COMPILER:STRING=clang-18
-              -DCMAKE_CXX_COMPILER:STRING=clang++-18
-              -DMUJOCO_HARDEN:BOOL=ON
-          # gcc canary: Filament is compiler-dependent and historically finicky on
-          # gcc, so keep one gcc Studio build even though the matrix no longer does.
-          - os: ubuntu-24.04
-            label: "ubuntu-24.04-gcc-14-studio"
-            cmake_args: >-
-              -G Ninja
-              -DCMAKE_C_COMPILER:STRING=gcc-14
-              -DCMAKE_CXX_COMPILER:STRING=g++-14
-              -DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed
-          - os: windows-2025
-            label: "windows-2025-ninja-studio"
-            cmake_args: >-
-              -G Ninja
-              -DCMAKE_SYSTEM_VERSION=10.0.26100.0
-          - os: macos-15
-            label: "macos-15-arm64-studio"
-            cmake_args: >-
-              -G Ninja
-              -DCMAKE_CXX_FLAGS="-Wno-error=deprecated-declarations"
-              -DMUJOCO_HARDEN:BOOL=ON
-
-    name: "${{ matrix.label }}"
-    runs-on: ${{ matrix.os }}
-
-    steps:
-    - uses: actions/checkout@v6
-
-    - 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
-
-    # Key the cache on the Filament pin: hashing cmake/third_party_deps/filament.cmake
-    # captures BOTH the pinned commit hash and the FILAMENT_* build flags, so bumping
-    # either starts a fresh cache namespace instead of restoring stale artifacts.
-    # (Correctness does not depend on this: ccache is content-addressed on the full
-    # compiler invocation, so changing any build flag forces a recompile regardless.)
-    - name: Setup ccache
-      if: ${{ runner.os != 'Windows' }}
-      uses: hendrikmuhs/ccache-action@v1.2.23
-      with:
-        key: ${{ matrix.label }}-filament-${{ hashFiles('cmake/third_party_deps/filament.cmake') }}
-        restore-keys: ${{ matrix.label }}-filament-
-        max-size: "2.0G"
-
-    - name: Configure Studio
-      env:
-        CMAKE_ARGS: ${{ matrix.cmake_args }}
-      run: bash ./.github/workflows/build_steps.sh configure_studio
-
-    - name: Build Studio
-      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.ref_name == 'main' && 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
-    env:
-      label: "ubuntu-24.04-clang-18-wasm"
-      cmake_args: >-
-        -G Ninja
-        -DCMAKE_C_COMPILER:STRING=clang-18
-        -DCMAKE_CXX_COMPILER:STRING=clang++-18
-        -DMUJOCO_HARDEN:BOOL=ON
-    steps:
-    - uses: actions/checkout@v6
-
-    - name: Setup Node.js for WASM bindings
-      uses: actions/setup-node@v6
-      with:
-        node-version: '24.x'
-
-    - name: Prepare Linux
-      if: ${{ runner.os == 'Linux' }}
-      run: bash ./.github/workflows/build_steps.sh prepare_linux
-
-    - name: Setup ccache
-      uses: hendrikmuhs/ccache-action@v1.2.23
-      with:
-        key: ${{ env.label }}
-        max-size: "1.5G"
-
-    # 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 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
-      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: ${{ env.label }}
-      if: failure() && github.ref_name == 'main' && github.event_name == 'push' && env.GCHAT_API_URL != ''
-      run: bash ./.github/workflows/build_steps.sh notify_team_chat
-
-
-  # MJX (mujoco.mjx) is pure JAX/XLA and compiler-independent: it imports the
-  # mujoco Python package only as a reference, so its tests run once here instead
-  # of in every matrix job. MuJoCo is built WITHOUT the C++ test suite (MJX does
-  # not need it) to keep the build lean.
-  mjx:
-    name: "ubuntu-24.04-clang-18-mjx"
-    runs-on: ubuntu-24.04
-    env:
-      TMPDIR: "/tmp"
-      CMAKE_ARGS: >-
-        -G Ninja
-        -DCMAKE_C_COMPILER:STRING=clang-18
-        -DCMAKE_CXX_COMPILER:STRING=clang++-18
-        -DMUJOCO_HARDEN:BOOL=ON
-        -DMUJOCO_BUILD_TESTS:BOOL=OFF
-    steps:
-    - uses: actions/checkout@v6
-
-    - name: Prepare Linux
-      run: bash ./.github/workflows/build_steps.sh prepare_linux
-
-    - uses: actions/setup-python@v6
-      with:
-        python-version: "3.11"
-
-    - name: Install uv
-      uses: astral-sh/setup-uv@v8.2.0
-      with:
-        enable-cache: true
-        cache-dependency-glob: "python/build_requirements*.txt"
-
-    - name: Prepare Python
-      run: bash ./.github/workflows/build_steps.sh prepare_python
-
-    - name: Setup ccache
-      uses: hendrikmuhs/ccache-action@v1.2.23
-      with:
-        key: ubuntu-24.04-clang-18-mjx
-        max-size: "1.0G"
-
-    - name: Configure MuJoCo
-      run: bash ./.github/workflows/build_steps.sh configure_mujoco
-
-    - name: Build MuJoCo
-      working-directory: build
-      run: bash ../.github/workflows/build_steps.sh build_mujoco
-
-    - name: Install MuJoCo
-      working-directory: build
-      run: bash ../.github/workflows/build_steps.sh install_mujoco
-
-    - name: Copy plugins
-      working-directory: build
-      run: bash ../.github/workflows/build_steps.sh copy_plugins_posix
-
-    - name: Make Python sdist
-      working-directory: python
-      run: bash ../.github/workflows/build_steps.sh make_python_sdist
-
-    - name: Build Python bindings
-      working-directory: python/dist
-      run: bash ../../.github/workflows/build_steps.sh build_python_bindings
-
-    - name: Install Python bindings
-      working-directory: python/dist
-      run: bash ../../.github/workflows/build_steps.sh install_python_bindings
-
-    - name: Package MJX
-      working-directory: mjx
-      run: bash ../.github/workflows/build_steps.sh package_mjx
-
-    - name: Install MJX
-      working-directory: mjx
-      run: bash ../.github/workflows/build_steps.sh install_mjx
-
-    - name: Test MJX
-      working-directory: mjx
-      run: bash ../.github/workflows/build_steps.sh test_mjx
-
-    - 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: "ubuntu-24.04-clang-18-mjx"
-      if: failure() && github.ref_name == 'main' && github.event_name == 'push' && env.GCHAT_API_URL != ''
-      run: bash ./.github/workflows/build_steps.sh notify_team_chat
@@ -1,69 +0,0 @@
-{
-  "comment": "Build matrix for build.yml. 'tier' controls when an entry runs: 'core' runs on every pull_request and push; 'extended' runs only on push to main (full compiler sweep). See generate_matrix() in build_steps.sh.",
-  "include": [
-    {
-      "os": "ubuntu-24.04",
-      "label": "ubuntu-24.04-gcc-14",
-      "cmake_args": "-G Ninja -DCMAKE_C_COMPILER:STRING=gcc-14 -DCMAKE_CXX_COMPILER:STRING=g++-14 -DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed",
-      "tmpdir": "/tmp",
-      "tier": "core"
-    },
-    {
-      "os": "ubuntu-24.04",
-      "label": "ubuntu-24.04-gcc-13",
-      "cmake_args": "-G Ninja -DCMAKE_C_COMPILER:STRING=gcc-13 -DCMAKE_CXX_COMPILER:STRING=g++-13 -DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed",
-      "tmpdir": "/tmp",
-      "tier": "extended"
-    },
-    {
-      "os": "ubuntu-22.04",
-      "label": "ubuntu-22.04-gcc-12",
-      "cmake_args": "-G Ninja -DCMAKE_C_COMPILER:STRING=gcc-12 -DCMAKE_CXX_COMPILER:STRING=g++-12 -DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed",
-      "tmpdir": "/tmp",
-      "tier": "core"
-    },
-    {
-      "os": "ubuntu-24.04",
-      "label": "ubuntu-24.04-clang-18",
-      "cmake_args": "-G Ninja -DCMAKE_C_COMPILER:STRING=clang-18 -DCMAKE_CXX_COMPILER:STRING=clang++-18 -DMUJOCO_HARDEN:BOOL=ON",
-      "tmpdir": "/tmp",
-      "tier": "core"
-    },
-    {
-      "os": "ubuntu-24.04",
-      "label": "ubuntu-24.04-clang-17",
-      "cmake_args": "-G Ninja -DCMAKE_C_COMPILER:STRING=clang-17 -DCMAKE_CXX_COMPILER:STRING=clang++-17 -DMUJOCO_HARDEN:BOOL=ON",
-      "tmpdir": "/tmp",
-      "tier": "extended"
-    },
-    {
-      "os": "ubuntu-24.04",
-      "label": "ubuntu-24.04-clang-16",
-      "cmake_args": "-G Ninja -DCMAKE_C_COMPILER:STRING=clang-16 -DCMAKE_CXX_COMPILER:STRING=clang++-16 -DMUJOCO_HARDEN:BOOL=ON",
-      "tmpdir": "/tmp",
-      "tier": "extended"
-    },
-    {
-      "os": "ubuntu-22.04",
-      "label": "ubuntu-22.04-clang-15",
-      "cmake_args": "-G Ninja -DCMAKE_C_COMPILER:STRING=clang-15 -DCMAKE_CXX_COMPILER:STRING=clang++-15 -DMUJOCO_HARDEN:BOOL=ON",
-      "tmpdir": "/tmp",
-      "tier": "extended"
-    },
-    {
-      "os": "macos-15",
-      "label": "macos-15-arm64",
-      "cmake_args": "-G Ninja -DMUJOCO_HARDEN:BOOL=ON",
-      "tmpdir": "/tmp",
-      "tier": "core"
-    },
-    {
-      "os": "windows-2025",
-      "label": "windows-2025",
-      "cmake_args": "-DCMAKE_SYSTEM_VERSION=\"10.0.26100.0\"",
-      "cmake_build_args": "-- -m",
-      "tmpdir": "C:/Temp",
-      "tier": "core"
-    }
-  ]
-}
@@ -1,430 +0,0 @@
-#!/bin/bash
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# 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.
-
-
-# Wrap the compiler with ccache when it is available (set up by ccache-action in
-# CI). This makes warm rebuilds - including the expensive, pinned Filament build -
-# much faster. ccache is content-addressed on the full compiler invocation, so
-# changing a flag or source forces a recompile: a stale object is never reused.
-# Guarded by `command -v` so the script still works locally without ccache.
-CCACHE_ARGS=""
-if command -v ccache >/dev/null 2>&1; then
-    CCACHE_ARGS="-DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache"
-fi
-
-
-# Emit the build matrix for build.yml as a step output. On pull_request we run
-# only the representative "core" compiler set; on push (e.g. to main) we run the
-# full compiler sweep. Tiers are defined in build_matrix.json.
-generate_matrix() {
-    echo "Generating build matrix for event '${GITHUB_EVENT_NAME}'..."
-    local file=".github/workflows/build_matrix.json"
-    local matrix
-    if [[ "${GITHUB_EVENT_NAME}" == "pull_request" ]]; then
-        matrix="$(jq -c '{include: [.include[] | select(.tier == "core") | del(.tier)]}' "${file}")"
-    else
-        matrix="$(jq -c '{include: [.include[] | del(.tier)]}' "${file}")"
-    fi
-    echo "matrix=${matrix}" >> "${GITHUB_OUTPUT}"
-    echo "${matrix}" | jq .
-}
-
-
-prepare_linux() {
-    echo "Preparing Linux..."
-    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
-}
-
-
-prepare_python() {
-    echo "Preparing Python..."
-    repo="${PWD}"
-    pushd "${TMPDIR}" > /dev/null
-    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
-    # Install build deps with uv when available (set up by setup-uv in CI on
-    # POSIX) - much faster than pip. Fall back to pip otherwise (e.g. Windows,
-    # local dev). The venv is still created by `python -m venv`, so pip stays
-    # available for later steps (pip wheel / python -m build).
-    if command -v uv > /dev/null 2>&1; then
-        uv pip install --require-hashes -r "${repo}/python/build_requirements.txt"
-        uv pip install --require-hashes -r "${repo}/python/build_requirements_usd.txt"
-    else
-        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"
-    fi
-    popd > /dev/null
-}
-
-
-npm_ci() {
-    echo "Installing NPM dependencies for WASM bindings..."
-    pushd wasm
-    npm ci
-    popd
-}
-
-
-setup_emsdk() {
-    echo "Setting up Emscripten..."
-    git clone https://github.com/emscripten-core/emsdk.git
-    ./emsdk/emsdk install 4.0.10
-    ./emsdk/emsdk activate 4.0.10
-    # Force installing emscripten's typescript dependencies. This is a
-    # workaround for the github update to a newer typescript, which gives an
-    # error on the deprecated `--outFile` flag.
-    pushd emsdk/upstream/emscripten
-    npm i
-    popd
-}
-
-
-configure_mujoco() {
-    echo "Configuring MuJoCo..."
-    # Disable IPO/LTO to cut build time. Skip this on Windows: turning off MSVC's
-    # whole-program optimization (/GL) exposes a latent heap corruption in
-    # SetConstTest.SleepingNotAllowed (a real bug worth a separate investigation),
-    # and Windows build time is not a CI bottleneck.
-    local ipo_off="-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF"
-    if [[ "${RUNNER_OS}" == "Windows" ]]; then
-        ipo_off=""
-    fi
-    mkdir build &&
-    cd build &&
-    cmake .. \
-        -DCMAKE_BUILD_TYPE:STRING=Release \
-        ${ipo_off} \
-        -DCMAKE_INSTALL_PREFIX:STRING=${TMPDIR}/mujoco_install \
-        -DMUJOCO_BUILD_EXAMPLES:BOOL=OFF \
-        ${CCACHE_ARGS} \
-        ${CMAKE_ARGS}
-}
-
-
-build_mujoco() {
-    echo "Building MuJoCo..."
-    cmake --build . --config=Release ${CMAKE_BUILD_ARGS}
-}
-
-
-test_mujoco() {
-    echo "Testing MuJoCo..."
-    # ctest defaults to serial. The suite is ~1650 independent tests that use
-    # unique temp files (mkstemp / testing::TempDir) and declare no RUN_SERIAL /
-    # RESOURCE_LOCK, so running them in parallel is safe and ~2x faster on POSIX.
-    # Windows is kept serial conservatively: parallel-safety on the Windows file
-    # system is unverified and its test time is not a CI bottleneck.
-    if [[ "${RUNNER_OS}" == "Windows" ]]; then
-        ctest -C Release --output-on-failure .
-    else
-        local ncpu
-        ncpu="$(getconf _NPROCESSORS_ONLN 2>/dev/null || echo "${NUMBER_OF_PROCESSORS:-2}")"
-        ctest -C Release --output-on-failure --parallel "${ncpu}" .
-    fi
-}
-
-
-install_mujoco() {
-    echo "Installing MuJoCo..."
-    cmake --install .
-}
-
-
-copy_plugins_posix() {
-    echo "Copying plugins..."
-    mkdir -p ${TMPDIR}/mujoco_install/mujoco_plugin &&
-    cp lib/libactuator.* ${TMPDIR}/mujoco_install/mujoco_plugin &&
-    cp lib/libelasticity.* ${TMPDIR}/mujoco_install/mujoco_plugin &&
-    cp lib/libsensor.* ${TMPDIR}/mujoco_install/mujoco_plugin &&
-    cp lib/libsdf_plugin.* ${TMPDIR}/mujoco_install/mujoco_plugin
-}
-
-
-copy_plugins_window() {
-    echo "Copying plugins..."
-    mkdir -p ${TMPDIR}/mujoco_install/mujoco_plugin &&
-    cp bin/Release/actuator.dll ${TMPDIR}/mujoco_install/mujoco_plugin &&
-    cp bin/Release/elasticity.dll ${TMPDIR}/mujoco_install/mujoco_plugin &&
-    cp bin/Release/sensor.dll ${TMPDIR}/mujoco_install/mujoco_plugin
-}
-
-
-configure_samples() {
-    echo "Configuring samples..."
-    # Samples are tiny, so they keep the default IPO/LTO: disabling it saves no
-    # meaningful build time and would expose the same gcc -Werror false positives
-    # that -O3-without-LTO triggers (see configure_mujoco).
-    mkdir build &&
-    cd build &&
-    cmake .. \
-        -DCMAKE_BUILD_TYPE:STRING=Release \
-        -Dmujoco_ROOT:STRING=${TMPDIR}/mujoco_install \
-        ${CCACHE_ARGS} \
-        ${CMAKE_ARGS}
-}
-
-
-configure_simulate() {
-    echo "Configuring simulate..."
-    # See configure_samples: keep the default IPO/LTO for this small build.
-    mkdir build &&
-    cd build &&
-    cmake .. \
-        -DCMAKE_BUILD_TYPE:STRING=Release \
-        -Dmujoco_ROOT:STRING=${TMPDIR}/mujoco_install \
-        ${CCACHE_ARGS} \
-        ${CMAKE_ARGS}
-}
-
-
-build_simulate() {
-    echo "Building simulate..."
-    cmake --build . --config=Release ${CMAKE_BUILD_ARGS}
-}
-
-
-configure_studio() {
-    echo "Configuring Studio..."
-    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=ON \
-        -DMUJOCO_BUILD_TESTS=OFF \
-        -DMUJOCO_TEST_PYTHON_UTIL=OFF \
-        -DMUJOCO_WITH_USD=OFF \
-        -DMUJOCO_USE_FILAMENT=ON \
-        ${CCACHE_ARGS} \
-        ${CMAKE_ARGS}
-    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 &&
-    ./make_sdist.sh
-}
-
-
-build_python_bindings() {
-    echo "Building Python bindings..."
-    source ${TMPDIR}/venv/bin/activate
-    # pip unpacks the sdist into a randomized temp dir every run, so the absolute
-    # source/include paths differ each time and defeat ccache (0% hit, full
-    # recompile). CCACHE_BASEDIR rewrites absolute paths under it to paths relative
-    # to the (also-in-temp) build cwd, cancelling the random component so objects
-    # hash identically across runs. CCACHE_SLOPPINESS ignores timestamp/path noise.
-    #
-    # Do NOT add system_headers here: CMake adds the imported mujoco target's
-    # include dir (MUJOCO_PATH/include) as -isystem, so ccache would treat the
-    # public MuJoCo headers as system headers and skip hashing them. A change that
-    # lives only in those headers (a new mjData field, a new enum value) would then
-    # go undetected and ccache would reuse an object compiled against the old struct
-    # layout, producing an ABI-mismatched binding (wrong field offsets, stale
-    # mjNENABLE, signature mismatch). The mtime/ctime flags are kept: they handle the
-    # temp-dir churn without affecting header content detection.
-    export CCACHE_BASEDIR="${TMPDIR}"
-    export CCACHE_SLOPPINESS="time_macros,include_file_mtime,include_file_ctime,pch_defines,locale"
-    MUJOCO_PATH="${TMPDIR}/mujoco_install" \
-    MUJOCO_PLUGIN_PATH="${TMPDIR}/mujoco_install/mujoco_plugin" \
-    MUJOCO_CMAKE_ARGS="-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF ${CCACHE_ARGS} ${CMAKE_ARGS}" \
-    pip wheel -v --no-deps mujoco-*.tar.gz
-}
-
-
-install_python_bindings() {
-    echo "Installing Python bindings..."
-    source ${TMPDIR}/venv/bin/activate &&
-    pip install --no-index mujoco-*.whl
-}
-
-
-test_python_bindings() {
-    echo "Testing Python bindings..."
-    source ${TMPDIR}/venv/bin/activate &&
-    pytest -v --pyargs mujoco
-}
-
-
-build_test_wasm() {
-    echo "Building and testing WASM bindings..."
-    source emsdk/emsdk_env.sh
-    export PATH="$(pwd)/node_modules/.bin:$PATH"
-    echo "Build MuJoCo with Emscripten (Multi-Threaded)..."
-    emcmake cmake -B build_wasm_mt \
-        -DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF \
-        -DMUJOCO_WASM_THREADS=ON \
-        ${CCACHE_ARGS} \
-        $WASM_CMAKE_ARGS
-    cmake --build build_wasm_mt --parallel $(nproc)
-
-    echo "Run bindings tests for Multi-Threaded version..."
-    npm run test --prefix ./wasm
-
-    echo "Moving Multi-Thread version under mt subfolder..."
-    mkdir -p wasm/dist/mt
-    mv wasm/dist/mujoco.* wasm/dist/mt/
-
-    echo "Build MuJoCo with Emscripten (Single-Threaded)..."
-    emcmake cmake -B build_wasm_st \
-        -DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF \
-        -DMUJOCO_WASM_THREADS=OFF \
-        ${CCACHE_ARGS} \
-        $WASM_CMAKE_ARGS
-    cmake --build build_wasm_st --parallel $(nproc)
-
-    echo "Run bindings tests for Single-Threaded version..."
-    npm run test --prefix ./wasm
-}
-
-package_wasm() {
-    echo "Publishing WASM bindings..."
-    cp wasm/package.npm.json wasm/dist/package.json
-    cp wasm/README.md wasm/dist/README.md
-    VERSION="${VERSION:-${GITHUB_REF#refs/tags/}}"
-    npm --prefix wasm/dist version "${VERSION}" --no-git-tag-version
-    npm pack --dry-run ./wasm/dist
-    npm publish ./wasm/dist --access public --provenance
-}
-
-
-package_mjx() {
-    echo "Packaging MJX..."
-    source ${TMPDIR}/venv/bin/activate &&
-    python -m build .
-}
-
-
-install_mjx() {
-    echo "Installing MJX..."
-    source ${TMPDIR}/venv/bin/activate
-    # The MJX requirements (jax, jaxlib, scipy, ...) are a big install; use uv when
-    # available. Keep pip for the local --no-index wheel.
-    if command -v uv > /dev/null 2>&1; then
-        uv pip install --require-hashes -r requirements.txt
-    else
-        pip install --require-hashes -r requirements.txt
-    fi
-    pip install --no-index dist/mujoco_mjx-*.whl
-}
-
-
-test_mjx() {
-    echo "Testing MJX..."
-    source ${TMPDIR}/venv/bin/activate &&
-    pytest -n auto -v -k 'not IntegrationTest' --pyargs mujoco.mjx
-}
-
-
-notify_team_chat() {
-    CHATMSG="$(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 "${CHATMSG}"
-}
-
-
-build_mujoco_live() {
-    echo "Setting up Emscripten SDK..."
-    source emsdk/emsdk_env.sh
-
-    echo "Building Filament tools, targeting host platform..."
-    cmake -S . -B build_host -G Ninja \
-        -DCMAKE_BUILD_TYPE=Release \
-        -DUSE_STATIC_LIBCXX=OFF \
-        -DMUJOCO_BUILD_STUDIO=ON \
-        -DMUJOCO_USE_FILAMENT=ON \
-        -DMUJOCO_BUILD_TESTS=OFF \
-        -DMUJOCO_BUILD_EXAMPLES=OFF \
-        -DMUJOCO_BUILD_SIMULATE=OFF
-    cmake --build build_host --target matc resgen cmgen mujoco_filament_assets -j$(nproc)
-
-    echo "Building WASM app..."
-    emcmake cmake -S . -B build_wasm -G Ninja \
-        -DCMAKE_BUILD_TYPE=Release \
-        -DMUJOCO_BUILD_STUDIO=ON \
-        -DMUJOCO_USE_FILAMENT=ON \
-        -DMUJOCO_BUILD_TESTS_WASM=OFF \
-        -DMUJOCO_NATIVE_BUILD_DIR=$(pwd)/build_host
-    cmake --build build_wasm --target mujoco_studio -j$(nproc)
-}
-
-
-# Discover functions defined in this script by finding identifiers followed by
-# "()" and capturing the identifier as a valid function name.
-VALID_FUNCTIONS=()
-while IFS= read -r func_name; do
-  VALID_FUNCTIONS+=("$func_name")
-done < <(grep -E '^[[:alnum:]_]+\(\)' "$0" | sed 's/().*$//')
-
-# Exit with an error if the requested function is not found.
-if [[ ! " ${VALID_FUNCTIONS[*]} " =~ " ${1} " ]]; then
-    echo "Usage: $0 {$(IFS='|'; echo "${VALID_FUNCTIONS[*]}")}, got '$1'"
-    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
-# discovery code.
-set -xe
-
-# Execute the requested function.
-"$1"
@@ -0,0 +1,34 @@
+name: web-platform-ci
+
+on:
+  push:
+  pull_request:
+
+permissions:
+  contents: read
+
+jobs:
+  quality:
+    name: TypeScript、Lint、Unit、Build
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v6
+      - uses: actions/setup-node@v6
+        with:
+          node-version: 24
+          cache: npm
+      - run: npm ci
+      - run: npm run check
+
+  e2e:
+    name: Playwright E2E
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v6
+      - uses: actions/setup-node@v6
+        with:
+          node-version: 24
+          cache: npm
+      - run: npm ci
+      - run: npm run build
+      - run: npm run test:e2e
@@ -1,23 +0,0 @@
-# Run pre-commit hooks on files changed in the PR only.
-name: lint
-
-on:
-  pull_request:
-
-permissions:
-  contents: read
-
-jobs:
-  pre-commit:
-    name: pre-commit
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v6
-        with:
-          fetch-depth: 0
-      - uses: actions/setup-python@v6
-        with:
-          python-version: "3.12"
-      - uses: pre-commit/action@v3.0.1
-        with:
-          extra_args: --from-ref ${{ github.event.pull_request.base.sha }} --to-ref ${{ github.event.pull_request.head.sha }}
@@ -1,58 +0,0 @@
-name: live
-
-on:
-  push:
-    branches:
-      - live
-
-permissions:
-  contents: read
-  pages: write
-  id-token: write
-
-jobs:
-  build-and-upload-artifacts:
-    runs-on: ubuntu-24.04
-    steps:
-    - uses: actions/checkout@v6
-
-    - name: Prepare Linux
-      run: bash ./.github/workflows/build_steps.sh prepare_linux
-
-    - name: Setup Emscripten
-      run: bash ./.github/workflows/build_steps.sh setup_emsdk
-
-    - name: Build MuJoCo Live
-      env:
-        CC: clang-18
-        CXX: clang++-18
-      run: bash ./.github/workflows/build_steps.sh build_mujoco_live
-
-    - name: Prepare files for GitHub Pages
-      run: |
-        mkdir -p dist/bin
-        cp -r build_wasm/bin/* dist/bin/
-        cp src/experimental/studio/live.html dist/index.html
-        cp src/experimental/studio/live.css dist/live.css
-        cp src/experimental/studio/live.js dist/live.js
-        cp src/experimental/studio/favicon.ico dist/favicon.ico
-        COMMIT_HASH=$(git rev-parse HEAD 2>/dev/null || true)
-        if [ -n "$COMMIT_HASH" ]; then
-          sed -i "s/__COMMIT_HASH_PLACEHOLDER__/$COMMIT_HASH/g" dist/index.html
-        fi
-
-    - name: Upload GitHub Pages artifacts
-      uses: actions/upload-pages-artifact@v3
-      with:
-        path: dist
-
-  deploy-pages:
-    needs: build-and-upload-artifacts
-    runs-on: ubuntu-latest
-    environment:
-      name: github-pages
-      url: ${{ steps.deployment.outputs.page_url }}
-    steps:
-    - name: Deploy to GitHub Pages
-      id: deployment
-      uses: actions/deploy-pages@v4
@@ -1,50 +0,0 @@
-name: publish-wasm
-
-on:
-  push:
-    tags:
-      - '[0-9]*.[0-9]*.[0-9]*'
-
-  workflow_dispatch:
-    inputs:
-      tag_version:
-        description: 'Release tag version to deploy'
-        required: true
-        default: '0.0.0'
-
-permissions:
-  id-token: write
-  contents: read
-
-jobs:
-  publish:
-    name: Publish MuJoCo WASM package
-    runs-on: ubuntu-24.04
-
-    env:
-      VERSION: ${{ github.event_name == 'workflow_dispatch' && inputs.tag_version || github.ref_name }}
-
-    steps:
-    - uses: actions/checkout@v6
-
-    - name: Setup Node.js for WASM bindings
-      uses: actions/setup-node@v6
-      with:
-        node-version: '24.x'
-
-    - name: Prepare Linux
-      run: bash ./.github/workflows/build_steps.sh prepare_linux
-
-    - name: Install NPM Dependencies for WASM bindings
-      run: bash ./.github/workflows/build_steps.sh npm_ci
-
-    - name: Setup Emscripten for WASM bindings
-      run: bash ./.github/workflows/build_steps.sh setup_emsdk
-
-    - name: Build WASM bindings
-      run: bash ./.github/workflows/build_steps.sh build_test_wasm
-
-    - name: Package WASM bindings
-      env:
-        VERSION: ${{ env.VERSION }}
-      run: bash ./.github/workflows/build_steps.sh package_wasm
@@ -1,28 +0,0 @@
-name: update-live
-
-on:
-  release:
-    types: [published] # Trigger when publishing releases ...
-  workflow_dispatch: # or manually (updates to main HEAD).
-
-permissions:
-  contents: write
-
-jobs:
-  merge-branch:
-    runs-on: ubuntu-latest
-    steps:
-    - name: Checkout MuJoCo
-      uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
-
-    - name: Fast-forward the live branch
-      run: |
-        if [ "${{ github.event_name }}" = "workflow_dispatch" ]; then
-          git fetch origin main:refs/remotes/origin/main
-          REF_NAME="origin/main"
-        else
-          REF_NAME="${{ github.ref_name }}"
-        fi
-        git push origin ${REF_NAME}:refs/heads/live