Estimator GUI #671
Workflow file for this run
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: build | |
| on: | |
| push: | |
| branches: [main, deepmind] | |
| pull_request: | |
| branches: [main] | |
| jobs: | |
| mujoco_mpc: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - os: ubuntu-22.04 | |
| additional_label: "with Clang 14" | |
| cmake_args: >- | |
| -G Ninja | |
| -DCMAKE_C_COMPILER:STRING=clang-14 | |
| -DCMAKE_CXX_COMPILER:STRING=clang++-14 | |
| -DMJPC_BUILD_GRPC_SERVICE:BOOL=ON | |
| additional_targets: "agent_server" | |
| tmpdir: "/tmp" | |
| - os: macos-12 | |
| cmake_args: >- | |
| -G Ninja | |
| -DMJPC_BUILD_GRPC_SERVICE:BOOL=ON | |
| additional_targets: "agent_server" | |
| tmpdir: "/tmp" | |
| - os: windows-2022 | |
| cmake_args: >- | |
| -G Ninja | |
| -DCMAKE_C_COMPILER:STRING=clang | |
| -DCMAKE_CXX_COMPILER:STRING=clang++ | |
| -DMJPC_BUILD_GRPC_SERVICE:BOOL=ON | |
| tmpdir: "C:/Temp" | |
| name: "MuJoCo MPC on ${{ matrix.os }} ${{ matrix.additional_label }}" | |
| runs-on: ${{ matrix.os }} | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Prepare Linux | |
| if: ${{ runner.os == 'Linux' }} | |
| run: > | |
| sudo apt-get update && sudo apt-get install | |
| libgl1-mesa-dev | |
| libxinerama-dev | |
| libxcursor-dev | |
| libxrandr-dev | |
| libxi-dev | |
| ninja-build | |
| - name: Prepare macOS | |
| if: ${{ runner.os == 'macOS' }} | |
| run: brew install ninja | |
| - name: Prepare Windows | |
| if: ${{ runner.os == 'Windows' }} | |
| run: choco install nasm | |
| - name: Configure MuJoCo MPC | |
| run: > | |
| mkdir build && | |
| cd build && | |
| cmake .. -DCMAKE_BUILD_TYPE:STRING=Release | |
| ${{ matrix.cmake_args }} | |
| - name: Build MuJoCo MPC | |
| working-directory: build | |
| run: cmake --build . --config=Release ${{ matrix.cmake_build_args }} --target mjpc agent_test cost_derivatives_test norm_test rollout_test threadpool_test trajectory_test utilities_test batch_force_test batch_optimize_test batch_prior_test batch_sensor_test estimator_trajectory_test estimator_utilities_test kalman_test unscented_test ${{ matrix.additional_targets }} | |
| - name: Test MuJoCo MPC | |
| working-directory: build | |
| run: ctest -C Release --output-on-failure . |