mujoco

# 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
              -DCMAKE_EXE_LINKER_FLAGS:STRING=-rtlib=compiler-rt
              -DCMAKE_SHARED_LINKER_FLAGS:STRING=-rtlib=compiler-rt
              -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: Upload CMake Configure Log
      if: always()
      uses: actions/upload-artifact@v4
      with:
        name: cmake-configure-log-${{ matrix.label }}
        path: build/CMakeFiles/CMakeConfigureLog.yaml
        retention-days: 5

    - 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.ref_name == 'main' && 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
      env:
        CMAKE_ARGS: ${{ matrix.cmake_args }}
      run: bash ./.github/workflows/build_steps.sh configure_studio

    - name: Build Studio
      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.ref_name == 'main' && 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.ref_name == 'main' && github.event_name == 'push' && env.GCHAT_API_URL != ''
      run: bash ./.github/workflows/build_steps.sh notify_team_chat