#!/bin/bash

# Copyright 2025 DeepMind Technologies Limited

#

# Licensed under the Apache License, Version 2.0 (the "License");

# you may not use this file except in compliance with the License.

# You may obtain a copy of the License at

#

# http://www.apache.org/licenses/LICENSE-2.0

#

# Unless required by applicable law or agreed to in writing, software

# distributed under the License is distributed on an "AS IS" BASIS,

# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

# See the License for the specific language governing permissions and

# limitations under the License.

# TODO(matijak): Make all cmake commands run from the top-level directory, and

# consider making the builds parallel.

prepare_linux() {

echo "Preparing Linux..."

sudo apt-get update && sudo apt-get install \

libgl1-mesa-dev \

libwayland-dev \

libxinerama-dev \

libxcursor-dev \

libxkbcommon-dev \

libxrandr-dev \

libxi-dev \

ninja-build

}

prepare_python() {

echo "Preparing Python..."

repo="${PWD}"

pushd "${TMPDIR}" > /dev/null

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"

popd > /dev/null

}

npm_ci() {

echo "Installing NPM dependencies for WASM bindings..."

pushd wasm

npm ci

popd

}

setup_emsdk() {

echo "Setting up Emscripten..."

git clone https://github.com/emscripten-core/emsdk.git

./emsdk/emsdk install 4.0.10

./emsdk/emsdk activate 4.0.10

# Force installing emscripten's typescript dependencies. This is a

# workaround for the github update to a newer typescript, which gives an

# error on the deprecated `--outFile` flag.

pushd emsdk/upstream/emscripten

npm i

popd

}

configure_mujoco() {

echo "Configuring MuJoCo..."

mkdir build &&

cd build &&

cmake .. \

-DCMAKE_BUILD_TYPE:STRING=Release \

-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF \

-DCMAKE_INSTALL_PREFIX:STRING=${TMPDIR}/mujoco_install \

-DMUJOCO_BUILD_EXAMPLES:BOOL=OFF \

${CMAKE_ARGS}

}

build_mujoco() {

echo "Building MuJoCo..."

cmake --build . --config=Release ${CMAKE_BUILD_ARGS}

}

test_mujoco() {

echo "Testing MuJoCo..."

ctest -C Release --output-on-failure .

}

install_mujoco() {

echo "Installing MuJoCo..."

cmake --install .

}

copy_plugins_posix() {

echo "Copying plugins..."

mkdir -p ${TMPDIR}/mujoco_install/mujoco_plugin &&

cp lib/libactuator.* ${TMPDIR}/mujoco_install/mujoco_plugin &&

cp lib/libelasticity.* ${TMPDIR}/mujoco_install/mujoco_plugin &&

cp lib/libsensor.* ${TMPDIR}/mujoco_install/mujoco_plugin &&

cp lib/libsdf_plugin.* ${TMPDIR}/mujoco_install/mujoco_plugin

}

copy_plugins_window() {

echo "Copying plugins..."

mkdir -p ${TMPDIR}/mujoco_install/mujoco_plugin &&

cp bin/Release/actuator.dll ${TMPDIR}/mujoco_install/mujoco_plugin &&

cp bin/Release/elasticity.dll ${TMPDIR}/mujoco_install/mujoco_plugin &&

cp bin/Release/sensor.dll ${TMPDIR}/mujoco_install/mujoco_plugin

}

configure_samples() {

echo "Configuring samples..."

mkdir build &&

cd build &&

cmake .. \

-DCMAKE_BUILD_TYPE:STRING=Release \

-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF \

-Dmujoco_ROOT:STRING=${TMPDIR}/mujoco_install \

${CMAKE_ARGS}

}

configure_simulate() {

echo "Configuring simulate..."

mkdir build &&

cd build &&

cmake .. \

-DCMAKE_BUILD_TYPE:STRING=Release \

-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF \

-Dmujoco_ROOT:STRING=${TMPDIR}/mujoco_install \

${CMAKE_ARGS}

}

build_simulate() {

echo "Building simulate..."

cmake --build . --config=Release ${CMAKE_BUILD_ARGS}

}

configure_studio() {

echo "Configuring Studio..."

cmake -B build \

-DCMAKE_BUILD_TYPE:STRING=Release \

-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF \

-DUSE_STATIC_LIBCXX=OFF \

-DBUILD_SHARED_LIBS=OFF \

-DMUJOCO_BUILD_EXAMPLES=OFF \

-DMUJOCO_BUILD_SIMULATE=OFF \

-DMUJOCO_BUILD_STUDIO=ON \

-DMUJOCO_BUILD_TESTS=OFF \

-DMUJOCO_TEST_PYTHON_UTIL=OFF \

-DMUJOCO_WITH_USD=OFF \

-DMUJOCO_USE_FILAMENT=ON \

${CMAKE_ARGS}

echo "Configuring Studio... DONE"

}

build_studio() {

echo "Building Studio..."

cmake --build build --config=Release --target mujoco_studio --parallel

echo "Building Studio... DONE"

}

make_python_sdist() {

echo "Making Python sdist..."

source ${TMPDIR}/venv/bin/activate &&

./make_sdist.sh

}

build_python_bindings() {

echo "Building Python bindings..."

source ${TMPDIR}/venv/bin/activate &&

MUJOCO_PATH="${TMPDIR}/mujoco_install" \

MUJOCO_PLUGIN_PATH="${TMPDIR}/mujoco_install/mujoco_plugin" \

MUJOCO_CMAKE_ARGS="-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF ${CMAKE_ARGS}" \

pip wheel -v --no-deps mujoco-*.tar.gz

}

install_python_bindings() {

echo "Installing Python bindings..."

source ${TMPDIR}/venv/bin/activate &&

pip install --no-index mujoco-*.whl

}

test_python_bindings() {

echo "Testing Python bindings..."

source ${TMPDIR}/venv/bin/activate &&

pytest -v --pyargs mujoco

}

build_test_wasm() {

echo "Building and testing WASM bindings..."

source emsdk/emsdk_env.sh

export PATH="$(pwd)/node_modules/.bin:$PATH"

echo "Build MuJoCo with Emscripten (Multi-Threaded)..."

emcmake cmake -B build_wasm_mt \

-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF \

-DMUJOCO_WASM_THREADS=ON \

$WASM_CMAKE_ARGS

cmake --build build_wasm_mt --parallel $(nproc)

echo "Run bindings tests for Multi-Threaded version..."

npm run test --prefix ./wasm

echo "Moving Multi-Thread version under mt subfolder..."

mkdir -p wasm/dist/mt

mv wasm/dist/mujoco.* wasm/dist/mt/

echo "Build MuJoCo with Emscripten (Single-Threaded)..."

emcmake cmake -B build_wasm_st \

-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF \

-DMUJOCO_WASM_THREADS=OFF \

$WASM_CMAKE_ARGS

cmake --build build_wasm_st --parallel $(nproc)

echo "Run bindings tests for Single-Threaded version..."

npm run test --prefix ./wasm

}

package_wasm() {

echo "Publishing WASM bindings..."

cp wasm/package.npm.json wasm/dist/package.json

cp wasm/README.md wasm/dist/README.md

VERSION="${VERSION:-${GITHUB_REF#refs/tags/}}"

npm --prefix wasm/dist version "${VERSION}" --no-git-tag-version

npm pack --dry-run ./wasm/dist

npm publish ./wasm/dist --access public --provenance

}

package_mjx() {

echo "Packaging MJX..."

source ${TMPDIR}/venv/bin/activate &&

python -m build .

}

install_mjx() {

echo "Installing MJX..."

source ${TMPDIR}/venv/bin/activate &&

pip install --require-hashes -r requirements.txt &&

pip install --no-index dist/mujoco_mjx-*.whl

}

test_mjx() {

echo "Testing MJX..."

source ${TMPDIR}/venv/bin/activate &&

pytest -n auto -v -k 'not IntegrationTest' --pyargs mujoco.mjx

}

notify_team_chat() {

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}"

}

# Discover functions defined in this script by finding identifiers followed by

# "()" and capturing the identifier as a valid function name.

VALID_FUNCTIONS=()

while IFS= read -r func_name; do

VALID_FUNCTIONS+=("$func_name")

done < <(grep -E '^[[:alnum:]_]+\(\)' "$0" | sed 's/().*$//')

# Exit with an error if the requested function is not found.

if [[ ! " ${VALID_FUNCTIONS[*]} " =~ " ${1} " ]]; then

echo "Usage: $0 {$(IFS='|'; echo "${VALID_FUNCTIONS[*]}")}, got '$1'"

exit 1

fi

# Set options to print the commands being run, and cause the script to exit with

# an error code if any command fails. Note we do this just before executing

# the requested function to avoid cluttering the output with the above command

# discovery code.

set -xe

# Execute the requested function.

"$1"