Fast flex: Interpolate contact points directly. #3658
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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. | |
| # TODO(matijak): Consider switching Windows to Ninja builds only, this configures slightly faster | |
| # and brings Windows in line with other OSes. Also we wouldn't need to specify the --config option | |
| # in the build step because Ninja doesn't support multiple configurations (unlike MSBuild). | |
| 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-24.04 | |
| label: "ubuntu-24.04-gcc-14" | |
| cmake_args: >- | |
| -G Ninja | |
| -DCMAKE_C_COMPILER:STRING=gcc-14 | |
| -DCMAKE_CXX_COMPILER:STRING=g++-14 | |
| -DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed | |
| tmpdir: "/tmp" | |
| - os: ubuntu-24.04 | |
| label: "ubuntu-24.04-gcc-13" | |
| cmake_args: >- | |
| -G Ninja | |
| -DCMAKE_C_COMPILER:STRING=gcc-13 | |
| -DCMAKE_CXX_COMPILER:STRING=g++-13 | |
| -DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed | |
| tmpdir: "/tmp" | |
| - os: ubuntu-22.04 | |
| label: "ubuntu-22.04-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 | |
| label: "ubuntu-22.04-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 | |
| label: "ubuntu-22.04-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-24.04 | |
| label: "ubuntu-24.04-clang-18" | |
| cmake_args: >- | |
| -G Ninja | |
| -DCMAKE_C_COMPILER:STRING=clang-18 | |
| -DCMAKE_CXX_COMPILER:STRING=clang++-18 | |
| -DMUJOCO_HARDEN:BOOL=ON | |
| tmpdir: "/tmp" | |
| - os: ubuntu-24.04 | |
| label: "ubuntu-24.04-clang-17" | |
| cmake_args: >- | |
| -G Ninja | |
| -DCMAKE_C_COMPILER:STRING=clang-17 | |
| -DCMAKE_CXX_COMPILER:STRING=clang++-17 | |
| -DMUJOCO_HARDEN:BOOL=ON | |
| tmpdir: "/tmp" | |
| - os: ubuntu-24.04 | |
| label: "ubuntu-24.04-clang-16" | |
| cmake_args: >- | |
| -G Ninja | |
| -DCMAKE_C_COMPILER:STRING=clang-16 | |
| -DCMAKE_CXX_COMPILER:STRING=clang++-16 | |
| -DMUJOCO_HARDEN:BOOL=ON | |
| tmpdir: "/tmp" | |
| - os: ubuntu-22.04 | |
| label: "ubuntu-22.04-clang-15" | |
| cmake_args: >- | |
| -G Ninja | |
| -DCMAKE_C_COMPILER:STRING=clang-15 | |
| -DCMAKE_CXX_COMPILER:STRING=clang++-15 | |
| -DMUJOCO_HARDEN:BOOL=ON | |
| tmpdir: "/tmp" | |
| - os: ubuntu-22.04 | |
| label: "ubuntu-22.04-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 | |
| label: "ubuntu-22.04-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: macos-15 | |
| label: "macos-15-arm64" | |
| cmake_args: >- | |
| -G Ninja | |
| -DMUJOCO_HARDEN:BOOL=ON | |
| tmpdir: "/tmp" | |
| - os: macos-15-large | |
| label: "macos-15-x86_64" | |
| cmake_args: >- | |
| -G Ninja | |
| -DMUJOCO_HARDEN:BOOL=ON | |
| tmpdir: "/tmp" | |
| - os: windows-2025 | |
| label: "windows-2025" | |
| cmake_args: >- | |
| -DCMAKE_SYSTEM_VERSION="10.0.26100.0" | |
| cmake_build_args: "-- -m" | |
| tmpdir: "C:/Temp" | |
| name: "${{ matrix.label }}" | |
| runs-on: ${{ matrix.os }} | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Prepare Linux | |
| if: ${{ runner.os == 'Linux' }} | |
| run: bash ./.github/workflows/build_steps.sh prepare_linux | |
| - 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 | |
| env: | |
| TMPDIR: ${{ matrix.tmpdir }} | |
| run: bash ./.github/workflows/build_steps.sh prepare_python | |
| - name: Setup Node.js for WASM bindings | |
| if: ${{ runner.os == 'Linux' && matrix.label != 'ubuntu-24.04-clang-18' }} | |
| uses: actions/setup-node@v4 | |
| with: | |
| node-version: '20' | |
| # Exclude platforms covered by the `wasm` job. | |
| - name: Install NPM Dependencies for WASM bindings | |
| if: ${{ runner.os == 'Linux' && matrix.label != 'ubuntu-24.04-clang-18' }} | |
| run: bash ./.github/workflows/build_steps.sh npm_ci | |
| # Exclude platforms covered by the `wasm` job. | |
| - name: Setup Emscripten for WASM bindings | |
| if: ${{ runner.os == 'Linux' && matrix.label != 'ubuntu-24.04-clang-18' }} | |
| run: bash ./.github/workflows/build_steps.sh setup_emsdk | |
| - name: Configure MuJoCo | |
| env: | |
| TMPDIR: ${{ matrix.tmpdir }} | |
| CMAKE_ARGS: ${{ matrix.cmake_args }} | |
| run: bash ./.github/workflows/build_steps.sh configure_mujoco | |
| - name: Build MuJoCo | |
| working-directory: build | |
| env: | |
| CMAKE_BUILD_ARGS: ${{ matrix.cmake_build_args }} | |
| run: bash ../.github/workflows/build_steps.sh build_mujoco | |
| - 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: bash ../.github/workflows/build_steps.sh test_mujoco | |
| - name: Install MuJoCo | |
| working-directory: build | |
| run: bash ../.github/workflows/build_steps.sh install_mujoco | |
| - name: Copy plugins (POSIX) | |
| if: ${{ runner.os != 'Windows' }} | |
| working-directory: build | |
| env: | |
| TMPDIR: ${{ matrix.tmpdir }} | |
| run: bash ../.github/workflows/build_steps.sh copy_plugins_posix | |
| - name: Copy plugins (Windows) | |
| if: ${{ runner.os == 'Windows' }} | |
| working-directory: build | |
| env: | |
| TMPDIR: ${{ matrix.tmpdir }} | |
| run: bash ../.github/workflows/build_steps.sh copy_plugins_window | |
| - name: Configure samples | |
| working-directory: sample | |
| env: | |
| TMPDIR: ${{ matrix.tmpdir }} | |
| CMAKE_ARGS: ${{ matrix.cmake_args }} | |
| run: bash ../.github/workflows/build_steps.sh configure_samples | |
| - name: Build samples | |
| working-directory: sample/build | |
| run: cmake --build . --config=Release ${{ matrix.cmake_build_args }} | |
| - name: Configure simulate | |
| working-directory: simulate | |
| env: | |
| TMPDIR: ${{ matrix.tmpdir }} | |
| CMAKE_ARGS: ${{ matrix.cmake_args }} | |
| run: bash ../.github/workflows/build_steps.sh configure_simulate | |
| - name: Build simulate | |
| working-directory: simulate/build | |
| env: | |
| CMAKE_BUILD_ARGS: ${{ matrix.cmake_build_args }} | |
| run: bash ../../.github/workflows/build_steps.sh build_simulate | |
| # Exclude platforms covered by the `studio` job. | |
| # Exclude macos-15-x86_64 because we don't have a way maintain/develop the build locally. | |
| - name: Configure Studio | |
| if: ${{ matrix.label != 'windows-2025' && | |
| matrix.label != 'macos-15-arm64' && | |
| matrix.label != 'macos-15-x86_64' }} | |
| env: | |
| CMAKE_ARGS: ${{ matrix.cmake_args }} | |
| run: bash ./.github/workflows/build_steps.sh configure_studio | |
| # Exclude platforms covered by the `studio` job. | |
| # Exclude macos-15-x86_64 because we don't have a way maintain/develop the build locally. | |
| # TODO(haroonq): Fix Filament compilation for GCC<=12? | |
| - name: Build Studio | |
| if: ${{ matrix.label != 'windows-2025' && | |
| matrix.label != 'macos-15-arm64' && | |
| matrix.label != 'macos-15-x86_64' && | |
| matrix.label != 'ubuntu-22.04-gcc-10' && | |
| matrix.label != 'ubuntu-22.04-gcc-11' && | |
| matrix.label != 'ubuntu-22.04-gcc-12' }} | |
| run: bash ./.github/workflows/build_steps.sh build_studio | |
| - name: Make Python sdist | |
| shell: bash | |
| working-directory: python | |
| env: | |
| TMPDIR: ${{ matrix.tmpdir }} | |
| run: bash ../.github/workflows/build_steps.sh make_python_sdist | |
| - name: Build Python bindings | |
| if: ${{ runner.os != 'Windows' }} | |
| shell: bash | |
| working-directory: python/dist | |
| env: | |
| TMPDIR: ${{ matrix.tmpdir }} | |
| CMAKE_ARGS: ${{ matrix.cmake_args }} | |
| run: bash ../../.github/workflows/build_steps.sh build_python_bindings | |
| - name: Install Python bindings | |
| if: ${{ runner.os != 'Windows' }} | |
| shell: bash | |
| working-directory: python/dist | |
| env: | |
| TMPDIR: ${{ matrix.tmpdir }} | |
| run: bash ../../.github/workflows/build_steps.sh install_python_bindings | |
| - name: Test Python bindings | |
| if: ${{ runner.os != 'Windows' }} | |
| shell: bash | |
| env: | |
| MUJOCO_GL: disable | |
| TMPDIR: ${{ matrix.tmpdir }} | |
| run: bash ./.github/workflows/build_steps.sh test_python_bindings | |
| # Exclude platforms covered by the `wasm` job. | |
| - name: Build and Test WASM bindings | |
| if: ${{ runner.os == 'Linux' && matrix.label != 'ubuntu-24.04-clang-18' }} | |
| shell: bash | |
| run: bash ./.github/workflows/build_steps.sh build_test_wasm | |
| - name: Package MJX | |
| if: ${{ runner.os != 'Windows' }} | |
| shell: bash | |
| working-directory: mjx | |
| env: | |
| TMPDIR: ${{ matrix.tmpdir }} | |
| run: bash ../.github/workflows/build_steps.sh package_mjx | |
| - name: Install MJX | |
| if: ${{ runner.os != 'Windows' }} | |
| shell: bash | |
| working-directory: mjx | |
| env: | |
| TMPDIR: ${{ matrix.tmpdir }} | |
| run: bash ../.github/workflows/build_steps.sh install_mjx | |
| - name: Test MJX | |
| if: ${{ runner.os != 'Windows' }} | |
| shell: bash | |
| working-directory: mjx | |
| env: | |
| TMPDIR: ${{ matrix.tmpdir }} | |
| run: bash ../.github/workflows/build_steps.sh test_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.label }} | |
| if: ${{ failure() && github.event_name == 'push' && env.GCHAT_API_URL != '' }} | |
| run: bash ./.github/workflows/build_steps.sh notify_team_chat | |
| # This job quickly determines if MuJoCo Studio is broken. | |
| studio: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - os: ubuntu-24.04 | |
| label: "ubuntu-24.04-clang-18-studio" | |
| cmake_args: >- | |
| -G Ninja | |
| -DCMAKE_C_COMPILER:STRING=clang-18 | |
| -DCMAKE_CXX_COMPILER:STRING=clang++-18 | |
| -DMUJOCO_HARDEN:BOOL=ON | |
| - os: windows-2025 | |
| label: "windows-2025-ninja-studio" | |
| cmake_args: >- | |
| -G Ninja | |
| -DCMAKE_SYSTEM_VERSION=10.0.26100.0 | |
| - os: macos-15 | |
| label: "macos-15-arm64-studio" | |
| cmake_args: >- | |
| -G Ninja | |
| -DCMAKE_CXX_FLAGS="-Wno-error=deprecated-declarations" | |
| -DMUJOCO_HARDEN:BOOL=ON | |
| name: "${{ matrix.label }}" | |
| runs-on: ${{ matrix.os }} | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Prepare Windows (setup MSVC) | |
| if: ${{ runner.os == 'Windows' }} | |
| uses: ilammy/msvc-dev-cmd@v1 | |
| - name: Prepare Linux | |
| if: ${{ runner.os == 'Linux' }} | |
| run: bash ./.github/workflows/build_steps.sh prepare_linux | |
| - name: Configure Studio with legacy OpenGL rendering | |
| env: | |
| CMAKE_ARGS: ${{ matrix.cmake_args }} | |
| run: bash ./.github/workflows/build_steps.sh configure_studio_legacy_opengl | |
| - name: Build Studio with legacy OpenGL rendering | |
| run: bash ./.github/workflows/build_steps.sh build_studio | |
| - name: Configure Studio with Filament rendering | |
| env: | |
| CMAKE_ARGS: ${{ matrix.cmake_args }} | |
| run: bash ./.github/workflows/build_steps.sh configure_studio | |
| - name: Build Studio with Filament rendering | |
| run: bash ./.github/workflows/build_steps.sh build_studio | |
| - 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.label }} | |
| if: ${{ failure() && github.event_name == 'push' && env.GCHAT_API_URL != '' }} | |
| run: bash ./.github/workflows/build_steps.sh notify_team_chat | |
| # This job quickly determines if WASM bindings are broken. | |
| wasm: | |
| name: "ubuntu-24.04-clang-18-wasm" | |
| runs-on: ubuntu-24.04 | |
| env: | |
| label: "ubuntu-24.04-clang-18-wasm" | |
| cmake_args: >- | |
| -G Ninja | |
| -DCMAKE_C_COMPILER:STRING=clang-18 | |
| -DCMAKE_CXX_COMPILER:STRING=clang++-18 | |
| -DMUJOCO_HARDEN:BOOL=ON | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Setup Node.js for WASM bindings | |
| uses: actions/setup-node@v4 | |
| with: | |
| node-version: '20' | |
| - name: Prepare Linux | |
| if: ${{ runner.os == 'Linux' }} | |
| run: bash ./.github/workflows/build_steps.sh prepare_linux | |
| # For convenience run multiple build_steps functions in a single step. | |
| - name: Prepare, Build and Test WASM bindings | |
| env: | |
| CMAKE_ARGS: ${{ env.cmake_args }} | |
| run: | | |
| bash ./.github/workflows/build_steps.sh npm_ci | |
| bash ./.github/workflows/build_steps.sh setup_emsdk | |
| bash ./.github/workflows/build_steps.sh build_test_wasm | |
| - 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: ${{ env.label }} | |
| if: ${{ failure() && github.event_name == 'push' && env.GCHAT_API_URL != '' }} | |
| run: bash ./.github/workflows/build_steps.sh notify_team_chat |