rusty_mujoco 0.3.0

Rust bindings for the MuJoCo physics simulator
Documentation 
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name: CI

on:
  pull_request:
  push:
    branches: ['main', 'v*']

permissions: {}

jobs:
  build:
    runs-on: ubuntu-latest
    
    strategy:
      matrix:
        toolchain: ['stable', 'nightly']
        arch: ['x86_64', 'aarch64']

    steps:
      - uses: actions/checkout@8e8c483db84b4bee98b60c0593521ed34d9990e8 # v6.0.1

      - run: |
          rustup update
          rustup default ${{ matrix.toolchain }}
          rustup target add ${{ matrix.arch }}-unknown-linux-gnu
          rustup component add rustfmt   ### required for the build script to work ###
          [ "${{ matrix.arch }}" = 'aarch64' ] && sudo apt update && sudo apt install -y g++-aarch64-linux-gnu || :

      - name: build fails without mujoco
        env:
          CARGO_BUILD_TARGET: ${{ matrix.arch }}-unknown-linux-gnu
        run: |
          if cargo build; then
            echo 'cargo build **unexpectedly** succeeded without mujoco.'
            exit 1
          else
            echo 'cargo build failed as expected without mujoco.'
          fi
          
      - name: install mujoco
        run: |
          mkdir -p $HOME/.mujoco
          cd $HOME/.mujoco
          wget https://github.com/google-deepmind/mujoco/releases/download/3.4.0/mujoco-3.4.0-linux-${{ matrix.arch }}.tar.gz
          tar -xzf mujoco-3.4.0-linux-${{ matrix.arch }}.tar.gz
          
      - name: build succeeds with MUJOCO_LIB
        env:
          CARGO_BUILD_TARGET: ${{ matrix.arch }}-unknown-linux-gnu
        run: |
          export MUJOCO_LIB="$HOME/.mujoco/mujoco-3.4.0/lib"
          cargo clean  ### clean up the build cache to assure the build script is re-run ###
          cargo build
          cargo build --features bindgen
          git diff --exit-code ./src/bindgen.rs || (echo "bindgen.rs changed after build with bindgen feature."; exit 1)
      
      - name: build succeeds using system mujoco without MUJOCO_LIB
        env:
          CARGO_BUILD_TARGET: ${{ matrix.arch }}-unknown-linux-gnu
        run: |
          sudo cp $HOME/.mujoco/mujoco-3.4.0/lib/libmujoco.so /usr/local/lib/
          sudo ldconfig
          cargo clean  ### clean up the build cache to assure the build script is re-run ###
          cargo build
          cargo build --features bindgen
          git diff --exit-code ./src/bindgen.rs || (echo "bindgen.rs changed after build with bindgen feature."; exit 1)

  test:
    strategy:
      matrix:
        toolchain: ['stable', 'nightly']
        os: ['ubuntu-24.04', 'ubuntu-24.04-arm']
    
    runs-on: ${{ matrix.os }}
    
    steps:
      - uses: actions/checkout@8e8c483db84b4bee98b60c0593521ed34d9990e8 # v6.0.1
      
      - name: setup Rust
        run: |
          rustup update
          rustup default ${{ matrix.toolchain }}
          rustup component add rustfmt   ### required for the build script to work ###
          
      - name: setup MuJoCo
        run: |
          if [ "${{ matrix.os }}" = 'ubuntu-24.04' ]; then
            MUJOCO_FILENAME='mujoco-3.4.0-linux-x86_64.tar.gz'
          elif [ "${{ matrix.os }}" = 'ubuntu-24.04-arm' ]; then
            MUJOCO_FILENAME='mujoco-3.4.0-linux-aarch64.tar.gz'
          fi
          mkdir -p $HOME/.mujoco && cd $HOME/.mujoco
          wget https://github.com/google-deepmind/mujoco/releases/download/3.4.0/$MUJOCO_FILENAME
          tar -xzf $MUJOCO_FILENAME
          ### Set `MUJOCO_LIB` and `LD_LIBRARY_PATH` for the test jobs ###
          echo "MUJOCO_LIB=$HOME/.mujoco/mujoco-3.4.0/lib" >> $GITHUB_ENV
          echo "LD_LIBRARY_PATH=$HOME/.mujoco/mujoco-3.4.0/lib:$LD_LIBRARY_PATH" >> $GITHUB_ENV
          
      - name: setup additional dependencies for examples
        run: |
          git clone https://github.com/glfw/glfw.git
          mkdir -p glfw/build && cd glfw/build
          sudo apt update && sudo apt install -y cmake build-essential libwayland-dev libxkbcommon-x11-dev libgl1-mesa-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
          cmake .. && make && sudo make install

      - name: run tests
        run: |
          cargo test --lib
          cargo test --doc
          cargo test --tests
          cargo test --benches
          cargo test --examples