Fix bug in mesh hillclimbing support function. #2275
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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-12 | |
| 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}" |