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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 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:
branches: [main]
pull_request:
branches: [main]
jobs:
mujoco:
strategy:
matrix:
include:
- os: ubuntu-22.04
additional_label: "with GCC 11"
cmake_args: >-
-G Ninja
-DCMAKE_C_COMPILER:STRING=gcc-11
-DCMAKE_CXX_COMPILER:STRING=g++-11
tmpdir: "/tmp"
- os: ubuntu-20.04
additional_label: "with GCC 10"
cmake_args: >-
-G Ninja
-DCMAKE_C_COMPILER:STRING=gcc-10
-DCMAKE_CXX_COMPILER:STRING=g++-10
tmpdir: "/tmp"
- os: ubuntu-20.04
additional_label: "with GCC 9"
cmake_args: >-
-G Ninja
-DCMAKE_C_COMPILER:STRING=gcc-9
-DCMAKE_CXX_COMPILER:STRING=g++-9
tmpdir: "/tmp"
- os: ubuntu-22.04
additional_label: "with 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: "with 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-22.04
additional_label: "with 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: "with 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: "with 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_build_args: "-- -m"
tmpdir: "C:/Temp"
name: "MuJoCo on ${{ 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@v3
with:
python-version: "3.10"
- name: Prepare Python
shell: bash
run: |
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 pip
pip install pytest wheel
- name: Configure MuJoCo
run: >
mkdir build &&
cd build &&
cmake ..
-DCMAKE_BUILD_TYPE:STRING=Release
-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 ${{ matrix.cmake_build_args }}
- name: Test MuJoCo
working-directory: build
run: ctest -C Release --output-on-failure .
- name: Install MuJoCo
working-directory: build
run: cmake --install .
- name: Configure samples
working-directory: sample
run: >
mkdir build &&
cd build &&
cmake ..
-DCMAKE_BUILD_TYPE:STRING=Release
-Dmujoco_ROOT:STRING=${{ matrix.tmpdir }}/mujoco_install
${{ matrix.cmake_args }}
- name: Build samples
working-directory: sample/build
run: cmake --build . --config=Release ${{ matrix.cmake_build_args }}
- name: Configure simulate
working-directory: simulate
run: >
mkdir build &&
cd build &&
cmake ..
-DCMAKE_BUILD_TYPE:STRING=Release
-Dmujoco_ROOT:STRING=${{ 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_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 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
|
