docs: Update projects #68
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| # SPDX-FileCopyrightText: 2026 The RISE Project | |
| # SPDX-License-Identifier: MIT | |
| --- | |
| # Upstream builds the core C++ library and the Python bindings as two separate CMake | |
| # stages rather than via cibuildwheel (.github/workflows/build.yml + build_steps.sh: | |
| # configure_mujoco/build_mujoco/install_mujoco, then build_python_bindings against | |
| # MUJOCO_PATH); this workflow follows the same two-stage shape inside the riscv64 | |
| # manylinux image. Studio (Filament/dear_imgui/implot GUI) and OpenUSD support are | |
| # dropped: Filament needs Vulkan/Metal-oriented tooling with no riscv64 story and | |
| # OpenUSD is a heavy separate build; the core physics engine and the classic GLFW | |
| # viewer (mujoco.viewer) are unaffected. All native deps (ccd, qhull, tinyxml2, | |
| # tinyobjloader, lodepng, miniz, pybind11, glfw) are fetched from source via CMake | |
| # FetchContent, so nothing here is a prebuilt binary. | |
| name: Build mujoco wheels (riscv64) | |
| on: | |
| workflow_dispatch: | |
| inputs: | |
| version: | |
| description: 'Version glob to (re)build; empty builds every version of docs/packages/mujoco.yaml not released yet' | |
| required: false | |
| default: '' | |
| pull_request: | |
| branches: [main] | |
| paths: | |
| - '.github/workflows/build-mujoco.yml' | |
| - 'docs/packages/mujoco.yaml' | |
| push: | |
| branches: [main] | |
| paths: | |
| - '.github/workflows/build-mujoco.yml' | |
| - 'docs/packages/mujoco.yaml' | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }} | |
| cancel-in-progress: true | |
| permissions: | |
| contents: read | |
| env: | |
| MANYLINUX_RISCV64_IMAGE: quay.io/pypa/manylinux_2_39_riscv64 | |
| PIP_EXTRA_INDEX_URL: https://pypi.riseproject.dev/simple/ | |
| jobs: | |
| setup: | |
| uses: $/.github/workflows/_setup.yml | |
| with: | |
| package: mujoco | |
| version: ${{ inputs.version }} | |
| build_wheels: | |
| needs: [setup] | |
| if: needs.setup.outputs.versions != '[]' | |
| name: Build mujoco ${{ matrix.version }} ${{ matrix.python }}-manylinux_riscv64 | |
| runs-on: ubuntu-24.04-riscv | |
| timeout-minutes: 360 | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| version: ${{ fromJSON(needs.setup.outputs.versions) }} | |
| python: [cp312-cp312, cp313-cp313, cp314-cp314, cp314-cp314t] | |
| env: | |
| MUJOCO_VERSION: ${{ matrix.version }} | |
| steps: | |
| - name: Checkout google-deepmind/mujoco ${{ env.MUJOCO_VERSION }} | |
| uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1 | |
| with: | |
| repository: google-deepmind/mujoco | |
| ref: ${{ env.MUJOCO_VERSION }} | |
| path: mujoco | |
| persist-credentials: false | |
| - name: Build mujoco core, sdist and the Python wheel | |
| run: | | |
| mkdir -p output "$HOME/.cache/mujoco-ccache" | |
| docker run -i --rm \ | |
| -v "$PWD/mujoco:/mujoco" \ | |
| -v "$PWD/output:/output" \ | |
| -v "$HOME/.cache/mujoco-ccache:/ccache" \ | |
| -e CCACHE_DIR=/ccache \ | |
| -e MUJOCO_VERSION \ | |
| -e PIP_EXTRA_INDEX_URL \ | |
| "$MANYLINUX_RISCV64_IMAGE" bash -s <<'MUJOCO_BUILD_EOF' | |
| #!/usr/bin/env bash | |
| set -euxo pipefail | |
| MUJOCO_VERSION="${MUJOCO_VERSION:?must be set, e.g. 3.12.0}" | |
| PIP_EXTRA_INDEX_URL="${PIP_EXTRA_INDEX_URL:?riscv64 wheel registry index URL}" | |
| PYBIN=/opt/python/${{ matrix.python }}/bin | |
| # ninja/git aren't in the base image; the X11/Wayland headers are the same | |
| # set the glfw port (build-glfw.yml) already validated on this image. | |
| dnf install -y --setopt=install_weak_deps=False \ | |
| ninja-build git \ | |
| libXinerama-devel libXrandr-devel libXcursor-devel libXi-devel \ | |
| wayland-devel libxkbcommon-devel wayland-protocols-devel | |
| CCACHE_ARGS="" | |
| command -v ccache >/dev/null 2>&1 && \ | |
| CCACHE_ARGS="-DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache" | |
| INSTALL=/tmp/mujoco_install | |
| cmake -S /mujoco -B /tmp/build -G Ninja \ | |
| -DCMAKE_BUILD_TYPE=Release \ | |
| -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF \ | |
| -DCMAKE_INSTALL_PREFIX="$INSTALL" \ | |
| -DMUJOCO_BUILD_EXAMPLES=OFF \ | |
| -DMUJOCO_BUILD_TESTS=OFF \ | |
| -DMUJOCO_TEST_PYTHON_UTIL=OFF \ | |
| -DMUJOCO_BUILD_SIMULATE=ON \ | |
| -DMUJOCO_BUILD_STUDIO=OFF \ | |
| -DMUJOCO_WITH_USD=OFF \ | |
| -DMUJOCO_USE_FILAMENT=OFF \ | |
| -DBUILD_TESTING=OFF \ | |
| ${CCACHE_ARGS} | |
| cmake --build /tmp/build -j "$(nproc)" | |
| cmake --install /tmp/build | |
| mkdir -p "$INSTALL/mujoco_plugin" | |
| for lib in actuator elasticity sensor sdf_plugin; do | |
| find /tmp/build -name "lib${lib}.*" -exec cp {} "$INSTALL/mujoco_plugin/" \; | |
| done | |
| "$PYBIN/python3" -m venv /tmp/venv | |
| source /tmp/venv/bin/activate | |
| cd /mujoco/python | |
| ./make_sdist.sh | |
| cd dist | |
| MUJOCO_PATH="$INSTALL" \ | |
| MUJOCO_PLUGIN_PATH="$INSTALL/mujoco_plugin" \ | |
| MUJOCO_CMAKE_ARGS="-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF ${CCACHE_ARGS}" \ | |
| pip wheel -v --no-deps mujoco-*.tar.gz | |
| pip install -U auditwheel | |
| mkdir -p /output | |
| # Excluding libmujoco.so mirrors the real PyPI wheel (which never grafts it | |
| # either): the plugin .so's under mujoco/plugin/ dlopen() at import time and | |
| # need to resolve libmujoco.so.<ver> to the SAME already-loaded instance the | |
| # main extension modules use (via matching SONAME), for MuJoCo's global | |
| # plugin registry to be shared. auditwheel would otherwise graft its own | |
| # renamed copy into mujoco.libs/ for the plugins only (their RPATH doesn't | |
| # already resolve libmujoco.so the way $ORIGIN does for the extensions in | |
| # mujoco/), splitting the process into two independent libmujoco instances | |
| # and silently breaking plugin registration ("plugin ... not found"). | |
| auditwheel repair --exclude 'libmujoco.so.*' --strip mujoco-*.whl -w /output | |
| ls -la /output | |
| MUJOCO_BUILD_EOF | |
| - uses: actions/upload-artifact@043fb46d1a93c77aae656e7c1c64a875d1fc6a0a # v7.0.1 | |
| with: | |
| name: mujoco-${{ env.MUJOCO_VERSION }}-${{ matrix.python }}-manylinux_riscv64 | |
| path: output/*.whl | |
| if-no-files-found: error | |
| - name: Test mujoco wheel | |
| run: | | |
| # MUJOCO_GL=disable mirrors upstream's own "Test Python bindings" CI step | |
| # (build.yml): without it, mujoco.GLContext falls back to GLFW, and a second | |
| # GLContext (render_test.py's per-test setUp) hangs forever on this headless | |
| # runner instead of failing - it isn't a slow build, cp312/cp313/cp314t all | |
| # sat idle at that exact point until the 360m job timeout killed them. | |
| docker run -i --rm \ | |
| -v "$PWD/mujoco:/mujoco" \ | |
| -v "$PWD/output:/output" \ | |
| -e PIP_EXTRA_INDEX_URL \ | |
| -e MUJOCO_GL=disable \ | |
| "$MANYLINUX_RISCV64_IMAGE" bash -s <<'MUJOCO_TEST_EOF' | |
| #!/usr/bin/env bash | |
| set -euxo pipefail | |
| PIP_EXTRA_INDEX_URL="${PIP_EXTRA_INDEX_URL:?riscv64 wheel registry index URL}" | |
| PYBIN=/opt/python/${{ matrix.python }}/bin | |
| # mujoco.sysid.tests (collected by `pytest --pyargs mujoco`) imports the whole | |
| # `[sysid]` extra upstream declares in pyproject.toml; installing it explicitly | |
| # here avoids discovering its deps one ModuleNotFoundError at a time. | |
| "$PYBIN/pip" install -U --extra-index-url "$PIP_EXTRA_INDEX_URL" \ | |
| --only-binary=numpy,glfw,scipy,matplotlib,pyyaml \ | |
| "numpy>=2.0" glfw scipy matplotlib pyyaml | |
| "$PYBIN/pip" install -U pytest absl-py "etils[epath]" pyopengl \ | |
| colorama imageio jinja2 plotly tabulate typing_extensions | |
| "$PYBIN/pip" install /output/mujoco-*.whl | |
| "$PYBIN/python3" -c "import mujoco; print(mujoco.__version__)" | |
| "$PYBIN/python3" -c " | |
| import mujoco | |
| model = mujoco.MjModel.from_xml_string('<mujoco><worldbody><body><geom type=\"sphere\" size=\"1\"/></body></worldbody></mujoco>') | |
| data = mujoco.MjData(model) | |
| mujoco.mj_step(model, data) | |
| print('mj_step OK, time =', data.time) | |
| " | |
| # mujoco/__init__.py extends its __path__ via pkgutil.extend_path (so | |
| # mujoco-mjx can contribute to the same namespace package), and `python -m | |
| # pytest` prepends cwd to sys.path. cd-ing into /mujoco/python before pytest | |
| # made it resolve `mujoco` to the checkout's package dir (found ahead of | |
| # site-packages on sys.path) instead of the installed wheel: same compiled | |
| # extensions still worked via the merged path, but PLUGINS_DIR (derived from | |
| # that __file__) pointed at a python/mujoco/plugin/ that doesn't exist in the | |
| # checkout, so zero bundled plugins loaded and every plugin XML test failed | |
| # with "plugin ... not found". Upstream's own CI (build_steps.sh | |
| # test_python_bindings) never cds into python/ for this step for the same | |
| # reason - run from the repo root here too. | |
| cd /mujoco | |
| "$PYBIN/python3" -m pytest -v --pyargs mujoco | |
| MUJOCO_TEST_EOF | |
| publish: | |
| name: Publish mujoco ${{ matrix.version }} | |
| needs: [setup, build_wheels] | |
| if: needs.setup.outputs.versions != '[]' | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| version: ${{ fromJSON(needs.setup.outputs.versions) }} | |
| permissions: | |
| contents: write | |
| pull-requests: write | |
| uses: $/.github/workflows/_publish-wheel.yml | |
| secrets: | |
| app-private-key: ${{ secrets.RISEPROJECT_APP_PRIVATE_KEY }} | |
| with: | |
| artifact-pattern: mujoco-${{ matrix.version }}-*-manylinux_riscv64 |