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Mujoco_WASM/.github/workflows/build.yml
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# 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.
name: build
on:
push:
paths-ignore:
- "doc/**"
- "**/README.md"
pull_request:
paths-ignore:
- "doc/**"
- "**/README.md"
jobs:
mujoco:
strategy:
fail-fast: false
matrix:
include:
- os: ubuntu-22.04
additional_label: "-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"
- os: ubuntu-22.04
additional_label: "-gcc-11"
cmake_args: >-
-G Ninja
-DCMAKE_C_COMPILER:STRING=gcc-11
-DCMAKE_CXX_COMPILER:STRING=g++-11
-DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed
tmpdir: "/tmp"
- os: ubuntu-22.04
additional_label: "-gcc-10"
cmake_args: >-
-G Ninja
-DCMAKE_C_COMPILER:STRING=gcc-10
-DCMAKE_CXX_COMPILER:STRING=g++-10
-DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed
tmpdir: "/tmp"
- os: ubuntu-22.04
additional_label: "-gcc-9"
cmake_args: >-
-G Ninja
-DCMAKE_C_COMPILER:STRING=gcc-9
-DCMAKE_CXX_COMPILER:STRING=g++-9
-DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed
tmpdir: "/tmp"
- os: ubuntu-22.04
additional_label: "-clang-14"
cmake_args: >-
-G Ninja
-DCMAKE_C_COMPILER:STRING=clang-14
-DCMAKE_CXX_COMPILER:STRING=clang++-14
-DMUJOCO_HARDEN:BOOL=ON
tmpdir: "/tmp"
- os: ubuntu-22.04
additional_label: "-clang-13"
cmake_args: >-
-G Ninja
-DCMAKE_C_COMPILER:STRING=clang-13
-DCMAKE_CXX_COMPILER:STRING=clang++-13
-DMUJOCO_HARDEN:BOOL=ON
tmpdir: "/tmp"
- os: ubuntu-20.04
additional_label: "-clang-12"
cmake_args: >-
-G Ninja
-DCMAKE_C_COMPILER:STRING=clang-12
-DCMAKE_CXX_COMPILER:STRING=clang++-12
-DMUJOCO_HARDEN:BOOL=ON
tmpdir: "/tmp"
- os: ubuntu-20.04
additional_label: "-clang-11"
cmake_args: >-
-G Ninja
-DCMAKE_C_COMPILER:STRING=clang-11
-DCMAKE_CXX_COMPILER:STRING=clang++-11
-DMUJOCO_HARDEN:BOOL=ON
tmpdir: "/tmp"
- os: ubuntu-20.04
additional_label: "-clang-10"
cmake_args: >-
-G Ninja
-DCMAKE_C_COMPILER:STRING=clang-10
-DCMAKE_CXX_COMPILER:STRING=clang++-10
-DMUJOCO_HARDEN:BOOL=ON
tmpdir: "/tmp"
- os: macos-13
cmake_args: >-
-G Ninja
-DMUJOCO_HARDEN:BOOL=ON
tmpdir: "/tmp"
- os: windows-2022
cmake_args: >-
-DCMAKE_SYSTEM_VERSION="10.0.22621.0"
cmake_build_args: "-- -m"
tmpdir: "C:/Temp"
name: "${{ matrix.os }}${{ matrix.additional_label }}"
runs-on: ${{ matrix.os }}
steps:
- uses: actions/checkout@v3
- name: Prepare Linux
if: ${{ runner.os == 'Linux' }}
run: >
sudo apt-get update && sudo apt-get install
libgl1-mesa-dev
libxinerama-dev
libxcursor-dev
libxrandr-dev
libxi-dev
ninja-build
- name: Prepare macOS
if: ${{ runner.os == 'macOS' }}
run: brew install ninja
- uses: actions/setup-python@v4
with:
python-version: "3.11"
- name: Prepare Python
shell: bash
run: |
repo="${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"
- 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 }}
- name: Build MuJoCo
working-directory: build
run: cmake --build . --config=Release ${{ matrix.cmake_build_args }}
- name: Copy in the correct VC runtime DLLs (workaround for actions/runner-images#10004)
if: ${{ runner.os == 'Windows' }}
working-directory: build
shell: powershell
run: |
Copy-Item (Join-Path `
((Get-ChildItem -Directory `
-Path "C:\Program Files\Microsoft Visual Studio\2022\Enterprise\VC\Redist\MSVC\14.*" |
Sort -Descending | Select-Object -First 1).FullName
) 'x64\Microsoft.VC143.CRT\*.dll') "bin\Release"
- name: Test MuJoCo
working-directory: build
run: ctest -C Release --output-on-failure .
- 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/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.* ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin
- 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 ${{ matrix.tmpdir }}/mujoco_install/mujoco_plugin
- name: Configure samples
working-directory: sample
run: >
mkdir build &&
cd build &&
cmake ..
-DCMAKE_BUILD_TYPE:STRING=Release
-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF
-Dmujoco_ROOT:STRING=${{ matrix.tmpdir }}/mujoco_install
${{ matrix.cmake_args }}
- name: Build samples
working-directory: sample/build
run: cmake --build . --config=Release ${{ matrix.cmake_build_args }}
- name: Configure simulate
working-directory: simulate
run: >
mkdir build &&
cd build &&
cmake ..
-DCMAKE_BUILD_TYPE:STRING=Release
-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF
-Dmujoco_ROOT:STRING=${{ matrix.tmpdir }}/mujoco_install
${{ matrix.cmake_args }}
- name: Build simulate
working-directory: simulate/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_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
- 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
- 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
- name: Package MJX
if: ${{ runner.os != 'Windows' }}
shell: bash
working-directory: mjx
run:
source ${{ matrix.tmpdir }}/venv/bin/activate &&
python -m build .
- 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
- name: Test MJX
if: ${{ runner.os != 'Windows' }}
shell: bash
run:
source ${{ matrix.tmpdir }}/venv/bin/activate &&
pytest -n auto -v -k 'not IntegrationTest' --pyargs mujoco.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: ${{ matrix.os }}${{ matrix.additional_label }}
if: ${{ failure() && github.event_name == 'push' && env.GCHAT_API_URL != '' }}
run: |
CHATMSG="$(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}"
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