Updating the build scripts for M1

.github/workflows/main.yml

@@ -2,9 +2,7 @@
 name: CI
 
 on:  
-   push:
-       branches:
-         - main
+   push
 
 jobs:
   linux:
@@ -44,3 +42,14 @@ jobs:
           distribution: 'zulu' 
     - name: Build
       run:  bash build-mac.sh
+  macM1:
+    runs-on: macos-13-xlarge
+    steps:
+    - name: Checkout
+      uses: actions/checkout@v1
+    - uses: actions/setup-java@v3
+      with:
+          java-version: '8'
+          distribution: 'zulu' 
+    - name: Build
+      run:  bash build-mac.sh

.github/workflows/release.yml

@@ -58,6 +58,22 @@ jobs:
       with:
           name: mac-lib
           path: src/main/resources/macosx-x86_64/*
+  macM1:
+    runs-on: macos-13-xlarge
+    steps:
+    - name: Checkout
+      uses: actions/checkout@v1
+    - uses: actions/setup-java@v3
+      with:
+          java-version: '8'
+          distribution: 'zulu' 
+    - name: Build
+      run:  bash build-mac.sh
+    - name: Upload math result for job Mac M1
+      uses: actions/upload-artifact@v3
+      with:
+          name: mac-lib-M1
+          path: src/main/resources/macosx-arm64/*
   publish:
     runs-on: ubuntu-latest 
     needs: [macos,windows,linux]
@@ -97,6 +113,11 @@ jobs:
         with:
           name: mac-lib
           path: src/main/resources/macosx-x86_64/
+      - name: Download math result for job Mac M1
+        uses: actions/download-artifact@v3
+        with:
+          name: mac-lib-M1
+          path: src/main/resources/macosx-arm64/
       - name: Print Working Dir
         run: |
              ls -al .

build-mac-m1.sh

@@ -0,0 +1,81 @@
+#!/bin/bash
+bash --version
+g++ --version
+echo "Mac M1 Build"
+VER=$(cat mujocoRelease.txt)
+
+TYPE=macosx-arm64
+ARCHIVE=mujoco-$VER-macos-universal2.dmg
+URL=https://github.com/deepmind/mujoco/releases/download/$VER/$ARCHIVE
+echo "$URL"
+SCRIPT_DIR=$( pwd )
+BUILDDIR=/tmp/
+mkdir -p $BUILDDIR
+if [ -f "$BUILDDIR$ARCHIVE" ]; then
+    echo "$BUILDDIR$ARCHIVE exists."
+else
+	rm -rf $BUILDDIR/mujoco*
+	curl -L  --location-trusted https://github.com/deepmind/mujoco/releases/download/$VER/$ARCHIVE -o $BUILDDIR/$ARCHIVE
+	cd $BUILDDIR
+	mkdir mujoco
+	cd mujoco
+	hdiutil attach  ../$ARCHIVE
+	find /Volumes/MuJoCo/ -name '*.dylib'
+	mkdir $BUILDDIR/mujoco/include
+	cp -R /Volumes/MuJoCo/mujoco.framework/Headers/ $BUILDDIR/mujoco/include/mujoco
+    mkdir $BUILDDIR/mujoco/lib/
+    cp /Volumes/MuJoCo/mujoco.framework/Versions/A/libmujoco.$VER.dylib $BUILDDIR/mujoco/lib/libmujoco.dylib
+
+	echo $BUILDDIR/mujoco/
+	ls -al $BUILDDIR/mujoco/
+	cd /tmp
+	echo /tmp
+	ls -al
+	cd $SCRIPT_DIR/
+fi
+set -e
+echo "Include"
+ls $BUILDDIR/mujoco/include/
+ls $BUILDDIR/mujoco/include/mujoco/
+echo "Lib"
+ls $BUILDDIR/mujoco/lib/
+
+
+JAVACPP_VER=1.5.7
+JAVACPPDIR=javacpp-platform-$JAVACPP_VER-bin
+JAVACPP=$JAVACPPDIR.zip
+if [ -f "$JAVACPP" ]; then
+    echo "$JAVACPP exists."
+else
+	curl -L  --location-trusted  https://github.com/bytedeco/javacpp/releases/download/$JAVACPP_VER/$JAVACPP -o $JAVACPP
+	7z x $JAVACPP
+	echo "JavaCPP:"
+	ls -al $JAVACPPDIR
+	cd $SCRIPT_DIR/
+
+fi
+JAVADIR=$SCRIPT_DIR/src/main/java/
+cd $SCRIPT_DIR/src/main/java/
+cp $BUILDDIR/mujoco/lib/* $JAVADIR/
+mv $BUILDDIR/mujoco/include/mujoco $JAVADIR/
+java -jar $SCRIPT_DIR/javacpp-platform-$JAVACPP_VER-bin/javacpp.jar  org/mujoco/MuJoCoConfig.java
+java -jar $SCRIPT_DIR/javacpp-platform-$JAVACPP_VER-bin/javacpp.jar -copylibs -copyresources -Xcompiler "-I$JAVADIR" -Xcompiler "-L$JAVADIR" org/mujoco/MuJoCoLib.java
+
+LIBPATH=$PWD/../resources/$TYPE/
+mkdir -p $SCRIPT_DIR/src/main/resources/
+rm -rf $JAVADIR../resources/$TYPE
+find $SCRIPT_DIR|grep $TYPE
+mv $JAVADIR/org/mujoco/$TYPE/ $JAVADIR../resources/
+cp $BUILDDIR/mujoco/lib/* $JAVADIR../resources/$TYPE/
+
+echo "ls -al $JAVADIR../resources/"
+ls -al $JAVADIR../resources/
+
+cd $SCRIPT_DIR/
+echo "Resource Files: "
+ls -al $JAVADIR../resources/*
+ls -al $JAVADIR../resources/$TYPE
+./gradlew jar  --stacktrace test
+
+
+

build-mac-x86.sh

@@ -0,0 +1,80 @@
+#!/bin/bash
+bash --version
+g++ --version
+echo "Mac x86 Build"
+VER=$(cat mujocoRelease.txt)
+ARCH=x64
+TYPE=macosx-x86_64
+ARCHIVE=mujoco-$VER-macos-universal2.dmg
+URL=https://github.com/deepmind/mujoco/releases/download/$VER/$ARCHIVE
+echo "$URL"
+SCRIPT_DIR=$( pwd )
+BUILDDIR=/tmp/
+mkdir -p $BUILDDIR
+if [ -f "$BUILDDIR$ARCHIVE" ]; then
+    echo "$BUILDDIR$ARCHIVE exists."
+else
+	rm -rf $BUILDDIR/mujoco*
+	curl -L  --location-trusted https://github.com/deepmind/mujoco/releases/download/$VER/$ARCHIVE -o $BUILDDIR/$ARCHIVE
+	cd $BUILDDIR
+	mkdir mujoco
+	cd mujoco
+	hdiutil attach  ../$ARCHIVE
+	find /Volumes/MuJoCo/ -name '*.dylib'
+	mkdir $BUILDDIR/mujoco/include
+	cp -R /Volumes/MuJoCo/mujoco.framework/Headers/ $BUILDDIR/mujoco/include/mujoco
+    mkdir $BUILDDIR/mujoco/lib/
+    cp /Volumes/MuJoCo/mujoco.framework/Versions/A/libmujoco.$VER.dylib $BUILDDIR/mujoco/lib/libmujoco.dylib
+
+	echo $BUILDDIR/mujoco/
+	ls -al $BUILDDIR/mujoco/
+	cd /tmp
+	echo /tmp
+	ls -al
+	cd $SCRIPT_DIR/
+fi
+set -e
+echo "Include"
+ls $BUILDDIR/mujoco/include/
+ls $BUILDDIR/mujoco/include/mujoco/
+echo "Lib"
+ls $BUILDDIR/mujoco/lib/
+
+
+JAVACPP_VER=1.5.7
+JAVACPPDIR=javacpp-platform-$JAVACPP_VER-bin
+JAVACPP=$JAVACPPDIR.zip
+if [ -f "$JAVACPP" ]; then
+    echo "$JAVACPP exists."
+else
+	curl -L  --location-trusted  https://github.com/bytedeco/javacpp/releases/download/$JAVACPP_VER/$JAVACPP -o $JAVACPP
+	7z x $JAVACPP
+	echo "JavaCPP:"
+	ls -al $JAVACPPDIR
+	cd $SCRIPT_DIR/
+
+fi
+JAVADIR=$SCRIPT_DIR/src/main/java/
+cd $SCRIPT_DIR/src/main/java/
+cp $BUILDDIR/mujoco/lib/* $JAVADIR/
+mv $BUILDDIR/mujoco/include/mujoco $JAVADIR/
+java -jar $SCRIPT_DIR/javacpp-platform-$JAVACPP_VER-bin/javacpp.jar  org/mujoco/MuJoCoConfig.java
+java -jar $SCRIPT_DIR/javacpp-platform-$JAVACPP_VER-bin/javacpp.jar -copylibs -copyresources -Xcompiler "-I$JAVADIR" -Xcompiler "-L$JAVADIR" org/mujoco/MuJoCoLib.java
+
+LIBPATH=$PWD/../resources/$TYPE/
+mkdir -p $SCRIPT_DIR/src/main/resources/
+rm -rf $JAVADIR../resources/$TYPE
+find $SCRIPT_DIR|grep $TYPE
+mv $JAVADIR/org/mujoco/$TYPE/ $JAVADIR../resources/
+cp $BUILDDIR/mujoco/lib/* $JAVADIR../resources/$TYPE/
+
+echo "ls -al $JAVADIR../resources/"
+ls -al $JAVADIR../resources/
+
+cd $SCRIPT_DIR/
+echo "Resource File: "
+ls -al $JAVADIR../resources/$TYPE
+./gradlew jar  --stacktrace test
+
+
+

build-mac.sh

@@ -1,80 +1,7 @@
 #!/bin/bash
-bash --version
-g++ --version
-echo "Windows Build"
-VER=$(cat mujocoRelease.txt)
-ARCH=x64
-TYPE=macosx-x86_64
-ARCHIVE=mujoco-$VER-macos-universal2.dmg
-URL=https://github.com/deepmind/mujoco/releases/download/$VER/$ARCHIVE
-echo "$URL"
-SCRIPT_DIR=$( pwd )
-BUILDDIR=/tmp/
-mkdir -p $BUILDDIR
-if [ -f "$BUILDDIR$ARCHIVE" ]; then
-    echo "$BUILDDIR$ARCHIVE exists."
-else
-	rm -rf $BUILDDIR/mujoco*
-	curl -L  --location-trusted https://github.com/deepmind/mujoco/releases/download/$VER/$ARCHIVE -o $BUILDDIR/$ARCHIVE
-	cd $BUILDDIR
-	mkdir mujoco
-	cd mujoco
-	hdiutil attach  ../$ARCHIVE
-	find /Volumes/MuJoCo/ -name '*.dylib'
-	mkdir $BUILDDIR/mujoco/include
-	cp -R /Volumes/MuJoCo/mujoco.framework/Headers/ $BUILDDIR/mujoco/include/mujoco
-    mkdir $BUILDDIR/mujoco/lib/
-    cp /Volumes/MuJoCo/mujoco.framework/Versions/A/libmujoco.$VER.dylib $BUILDDIR/mujoco/lib/libmujoco.dylib
-
-	echo $BUILDDIR/mujoco/
-	ls -al $BUILDDIR/mujoco/
-	cd /tmp
-	echo /tmp
-	ls -al
-	cd $SCRIPT_DIR/
-fi
 set -e
-echo "Include"
-ls $BUILDDIR/mujoco/include/
-ls $BUILDDIR/mujoco/include/mujoco/
-echo "Lib"
-ls $BUILDDIR/mujoco/lib/
-
-
-JAVACPP_VER=1.5.7
-JAVACPPDIR=javacpp-platform-$JAVACPP_VER-bin
-JAVACPP=$JAVACPPDIR.zip
-if [ -f "$JAVACPP" ]; then
-    echo "$JAVACPP exists."
+if [[ $(uname -m) == 'arm64' ]]; then
+	bash build-mac-m1.sh
 else
-	curl -L  --location-trusted  https://github.com/bytedeco/javacpp/releases/download/$JAVACPP_VER/$JAVACPP -o $JAVACPP
-	7z x $JAVACPP
-	echo "JavaCPP:"
-	ls -al $JAVACPPDIR
-	cd $SCRIPT_DIR/
-
-fi
-JAVADIR=$SCRIPT_DIR/src/main/java/
-cd $SCRIPT_DIR/src/main/java/
-cp $BUILDDIR/mujoco/lib/* $JAVADIR/
-mv $BUILDDIR/mujoco/include/mujoco $JAVADIR/
-java -jar $SCRIPT_DIR/javacpp-platform-$JAVACPP_VER-bin/javacpp.jar  org/mujoco/MuJoCoConfig.java
-java -jar $SCRIPT_DIR/javacpp-platform-$JAVACPP_VER-bin/javacpp.jar -copylibs -copyresources -Xcompiler "-I$JAVADIR" -Xcompiler "-L$JAVADIR" org/mujoco/MuJoCoLib.java
-
-LIBPATH=$PWD/../resources/$TYPE/
-mkdir -p $SCRIPT_DIR/src/main/resources/
-rm -rf $JAVADIR../resources/$TYPE
-find $SCRIPT_DIR|grep $TYPE
-mv $JAVADIR/org/mujoco/$TYPE/ $JAVADIR../resources/
-cp $BUILDDIR/mujoco/lib/* $JAVADIR../resources/$TYPE/
-
-echo "ls -al $JAVADIR../resources/"
-ls -al $JAVADIR../resources/
-
-cd $SCRIPT_DIR/
-echo "Resource File: "
-ls -al $JAVADIR../resources/$TYPE
-./gradlew jar  --stacktrace test
-
-
-
+	bash build-mac-x86.sh
+fi