# Read the Docs configuration file
# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details

version: 2

# TODO(robotics-simulation): pdf format fails to build on readthedocs
# formats:
#   - pdf

build:
  os: ubuntu-24.04
  tools:
    python: "3.12"
  apt_packages:
    - libgl-dev
  jobs:
    create_environment:
      # install uv
      - asdf plugin add uv
      - asdf install uv latest
      - asdf global uv latest
      - uv venv $READTHEDOCS_VIRTUALENV_PATH
      # install doc requirements and build tools
      - |
        UV_PROJECT_ENVIRONMENT=$READTHEDOCS_VIRTUALENV_PATH \
        uv pip install \
          -r doc/requirements.txt \
          cmake pip build setuptools absl-py
      # build and install MuJoCo C library
      - |
        VENV=$READTHEDOCS_VIRTUALENV_PATH && \
        $VENV/bin/cmake -B build \
          -DCMAKE_BUILD_TYPE=Release \
          -DCMAKE_INSTALL_PREFIX=$VENV \
          -DMUJOCO_BUILD_EXAMPLES=OFF \
          -DMUJOCO_BUILD_SIMULATE=OFF \
          -DMUJOCO_BUILD_TESTS=OFF \
          -DMUJOCO_TEST_PYTHON_UTIL=OFF && \
        $VENV/bin/cmake --build build --parallel && \
        $VENV/bin/cmake --install build
      # copy plugins
      - |
        mkdir -p $READTHEDOCS_VIRTUALENV_PATH/mujoco_plugin && \
        cp build/lib/libactuator.* \
           build/lib/libelasticity.* \
           build/lib/libsensor.* \
           $READTHEDOCS_VIRTUALENV_PATH/mujoco_plugin/ && \
        cp build/lib/libsdf_plugin.* \
           $READTHEDOCS_VIRTUALENV_PATH/mujoco_plugin/ || true
      # build and install Python bindings from source
      - |
        export VIRTUAL_ENV=$READTHEDOCS_VIRTUALENV_PATH \
               PATH=$READTHEDOCS_VIRTUALENV_PATH/bin:$PATH && \
        cd python && bash make_sdist.sh && cd dist && \
        MUJOCO_PATH=$READTHEDOCS_VIRTUALENV_PATH \
        MUJOCO_PLUGIN_PATH=$READTHEDOCS_VIRTUALENV_PATH/mujoco_plugin \
        MUJOCO_CMAKE_ARGS="-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF \
          -DGLFW_BUILD_WAYLAND=OFF -DGLFW_BUILD_X11=OFF" \
        UV_PROJECT_ENVIRONMENT=$READTHEDOCS_VIRTUALENV_PATH \
        uv pip install mujoco-*.tar.gz && \
        cd ../..
      # install mjx and mujoco_warp
      - UV_PROJECT_ENVIRONMENT=$READTHEDOCS_VIRTUALENV_PATH uv pip install -e mjx
      - |
        find mjx/mujoco/mjx/third_party/mujoco_warp -type f -exec \
          sed -i 's/mujoco\.mjx\.third_party\.mujoco_warp/mujoco_warp/g' {} \;
      - python doc/mjwarp/update_types.py mjx/mujoco/mjx/third_party/mujoco_warp/_src/types.py
      - |
        UV_PROJECT_ENVIRONMENT=$READTHEDOCS_VIRTUALENV_PATH \
        uv pip install mjx/mujoco/mjx/third_party/mujoco_warp
    install:
      - "true"  # skip default install

sphinx:
  builder: html
  configuration: doc/conf.py
  fail_on_warning: false