Taylor Howell
78 lines
2.7 KiB
YAML
78 lines
2.7 KiB
YAML
# Read the Docs configuration file
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# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details
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version: 2
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# TODO(robotics-simulation): pdf format fails to build on readthedocs
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# formats:
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# - pdf
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build:
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os: ubuntu-24.04
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tools:
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python: "3.12"
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apt_packages:
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- libgl-dev
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jobs:
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create_environment:
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# install uv
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- asdf plugin add uv
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- asdf install uv latest
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- asdf global uv latest
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- uv venv $READTHEDOCS_VIRTUALENV_PATH
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# install doc requirements and build tools
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- |
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UV_PROJECT_ENVIRONMENT=$READTHEDOCS_VIRTUALENV_PATH \
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uv pip install \
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-r doc/requirements.txt \
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cmake pip build setuptools absl-py
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# build and install MuJoCo C library
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- |
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VENV=$READTHEDOCS_VIRTUALENV_PATH && \
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$VENV/bin/cmake -B build \
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-DCMAKE_BUILD_TYPE=Release \
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-DCMAKE_INSTALL_PREFIX=$VENV \
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-DMUJOCO_BUILD_EXAMPLES=OFF \
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-DMUJOCO_BUILD_SIMULATE=OFF \
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-DMUJOCO_BUILD_TESTS=OFF \
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-DMUJOCO_TEST_PYTHON_UTIL=OFF && \
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$VENV/bin/cmake --build build --parallel && \
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$VENV/bin/cmake --install build
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# copy plugins
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- |
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mkdir -p $READTHEDOCS_VIRTUALENV_PATH/mujoco_plugin && \
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cp build/lib/libactuator.* \
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build/lib/libelasticity.* \
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build/lib/libsensor.* \
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$READTHEDOCS_VIRTUALENV_PATH/mujoco_plugin/ && \
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cp build/lib/libsdf_plugin.* \
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$READTHEDOCS_VIRTUALENV_PATH/mujoco_plugin/ || true
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# build and install Python bindings from source
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- |
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export VIRTUAL_ENV=$READTHEDOCS_VIRTUALENV_PATH \
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PATH=$READTHEDOCS_VIRTUALENV_PATH/bin:$PATH && \
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cd python && bash make_sdist.sh && cd dist && \
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MUJOCO_PATH=$READTHEDOCS_VIRTUALENV_PATH \
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MUJOCO_PLUGIN_PATH=$READTHEDOCS_VIRTUALENV_PATH/mujoco_plugin \
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MUJOCO_CMAKE_ARGS="-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF \
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-DGLFW_BUILD_WAYLAND=OFF -DGLFW_BUILD_X11=OFF" \
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UV_PROJECT_ENVIRONMENT=$READTHEDOCS_VIRTUALENV_PATH \
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uv pip install mujoco-*.tar.gz && \
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cd ../..
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# install mjx and mujoco_warp
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- UV_PROJECT_ENVIRONMENT=$READTHEDOCS_VIRTUALENV_PATH uv pip install -e mjx
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- |
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find mjx/mujoco/mjx/third_party/mujoco_warp -type f -exec \
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sed -i 's/mujoco\.mjx\.third_party\.mujoco_warp/mujoco_warp/g' {} \;
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- python doc/mjwarp/update_types.py mjx/mujoco/mjx/third_party/mujoco_warp/_src/types.py
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- |
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UV_PROJECT_ENVIRONMENT=$READTHEDOCS_VIRTUALENV_PATH \
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uv pip install mjx/mujoco/mjx/third_party/mujoco_warp
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install:
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- "true" # skip default install
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sphinx:
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builder: html
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configuration: doc/conf.py
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fail_on_warning: false
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