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#2300
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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}" |