build.yml

# 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}"