Add multi-plan optimization. #1354
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| name: build | |
| on: | |
| push: | |
| branches: [main, deepmind] | |
| pull_request: | |
| branches: [main] | |
| jobs: | |
| mujoco_mpc: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - os: ubuntu-20.04 | |
| additional_label: "with Clang 12" | |
| cmake_args: >- | |
| -G Ninja | |
| -DCMAKE_C_COMPILER:STRING=clang-12 | |
| -DCMAKE_CXX_COMPILER:STRING=clang++-12 | |
| -DMJPC_BUILD_GRPC_SERVICE:BOOL=ON | |
| tmpdir: "/tmp" | |
| - os: macos-12 | |
| cmake_args: >- | |
| -G Ninja | |
| -DMJPC_BUILD_GRPC_SERVICE:BOOL=ON | |
| tmpdir: "/tmp" | |
| 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 | |
| zlib1g-dev | |
| - name: Prepare macOS | |
| if: ${{ runner.os == 'macOS' }} | |
| run: brew install ninja zlib | |
| - name: Prepare Windows | |
| if: ${{ runner.os == 'Windows' }} | |
| # Install llvm 16 manually, remove after | |
| # https://github.com/actions/runner-images/issues/8125 is resolved and that | |
| # version is included in the image by default | |
| run: > | |
| choco install nasm | |
| choco upgrade llvm | |
| - name: For the deepmind branch, use MuJoCo HEAD rather than a fixed commit | |
| if: ${{ github.ref_name == 'deepmind' }} | |
| run: | |
| echo "cmake_extra_args=-DMUJOCO_MPC_MUJOCO_GIT_TAG:STRING=main" > "$GITHUB_ENV" | |
| - name: Configure MuJoCo MPC | |
| shell: bash | |
| run: > | |
| mkdir build && | |
| cd build && | |
| cmake .. -DCMAKE_BUILD_TYPE:STRING=Release | |
| ${{ matrix.cmake_args }} | |
| $cmake_extra_args | |
| - name: Build MuJoCo MPC | |
| working-directory: build | |
| run: cmake --build . --config=Release ${{ matrix.cmake_build_args }} | |
| - name: Test MuJoCo MPC | |
| working-directory: build | |
| run: > | |
| cd mjpc/test && | |
| ctest -C Release --output-on-failure . | |
| - 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.os }} ${{ matrix.additional_label }} | |
| if: ${{ failure() && github.event_name == 'push' && env.GCHAT_API_URL != '' }} | |
| run: | | |
| CHATMSG="$(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}" |