Implementation:Google deepmind Mujoco CI Build Workflow

Knowledge Sources	Google_deepmind_Mujoco
Domains	CI/CD, Build Automation
Last Updated	2026-02-15 04:00 GMT

Overview

GitHub Actions workflow that builds and tests MuJoCo across multiple operating systems and compiler toolchains.

Description

The build.yml workflow defines a comprehensive CI matrix that compiles MuJoCo on Ubuntu (22.04 and 24.04), macOS, and Windows using a range of GCC (10 through 14) and Clang (14 through 18) compilers, as well as MSVC and Apple Clang. It triggers on pushes and pull requests, ignoring documentation-only changes (paths under doc/ and README.md files). The workflow uses a strategy matrix with fail-fast: false so that all platform/compiler combinations are tested even if one fails.

Usage

This workflow runs automatically on every push or pull request to the repository, except when only documentation files are modified. It is the primary gatekeeper ensuring cross-platform build correctness before code is merged.

Code Reference

Source Location

Repository: Google_deepmind_Mujoco
File: .github/workflows/build.yml
Lines: 1-455

Key Functions

// Trigger configuration
name: build
on:
  push:
    paths-ignore:
      - "doc/**"
      - "**/README.md"
  pull_request:
    paths-ignore:
      - "doc/**"
      - "**/README.md"

// Strategy matrix (excerpt)
jobs:
  mujoco:
    strategy:
      fail-fast: false
      matrix:
        include:
          - os: ubuntu-24.04
            label: "ubuntu-24.04-gcc-14"
            cmake_args: >-
              -G Ninja
              -DCMAKE_C_COMPILER:STRING=gcc-14
              -DCMAKE_CXX_COMPILER:STRING=g++-14
          - os: ubuntu-24.04
            label: "ubuntu-24.04-clang-18"
            cmake_args: >-
              -G Ninja
              -DCMAKE_C_COMPILER:STRING=clang-18
              -DCMAKE_CXX_COMPILER:STRING=clang++-18
              -DMUJOCO_HARDEN:BOOL=ON

I/O Contract

Inputs

Name	Type	Required	Description
Push event	Git event	Yes	Triggered on push to any branch (excluding doc-only changes)
Pull request event	Git event	Yes	Triggered on pull requests (excluding doc-only changes)
matrix.os	String	Yes	Runner OS image (e.g., `ubuntu-24.04`, `macos-14`, `windows-2022`)
matrix.cmake_args	String	Yes	CMake configuration arguments including generator and compiler selection
matrix.tmpdir	String	Yes	Temporary directory path used during the build process

Outputs

Name	Type	Description
Build status	CI status	Pass/fail result for each matrix entry indicating build and test success
Test results	CTest output	Results from running the MuJoCo test suite under each compiler/platform combination

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