Adding Linux Arm Build

.github/workflows/main.yml

@@ -5,6 +5,17 @@ on:
    push
 
 jobs:
+  linux-arm:
+    runs-on: ubuntu-24.04-arm
+    steps:
+    - name: Checkout
+      uses: actions/checkout@v1
+    - uses: actions/setup-java@v3
+      with:
+          java-version: '8'
+          distribution: 'zulu'
+    - name: Build
+      run: bash build-linux-arm.sh
   linux:
     runs-on: ubuntu-latest
     steps:

.github/workflows/release.yml

@@ -6,8 +6,24 @@ on:
          - '*'
 
 jobs:
+  linux-arm:
+    runs-on: ubuntu-24.04-arm
+    steps:
+    - name: Checkout
+      uses: actions/checkout@v1
+    - uses: actions/setup-java@v3
+      with:
+          java-version: '8'
+          distribution: 'zulu'
+    - name: Build
+      run: bash build-linux-arm.sh
+    - name: Upload math result for job Linux
+      uses: actions/upload-artifact@v4
+      with:
+          name: linux-arm-lib
+          path: src/main/resources/linux-arm64/*
   linux:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     steps:
     - name: Checkout
       uses: actions/checkout@v1
@@ -18,7 +34,7 @@ jobs:
     - name: Build
       run: bash build-linux.sh
     - name: Upload math result for job Linux
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
       with:
           name: linux-lib
           path: src/main/resources/linux-x86_64/*
@@ -37,7 +53,7 @@ jobs:
     - name: Build
       run: bash build-windows.sh
     - name: Upload math result for job Windows
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
       with:
           name: win-lib
           path: src/main/resources/windows-x86_64/*
@@ -54,13 +70,13 @@ jobs:
     - name: Build
       run: bash build-mac.sh
     - name: Upload math result for job Mac
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
       with:
           name: mac-lib
           path: src/main/resources/macosx-x86_64/*
   publish:
     runs-on: ubuntu-latest 
-    needs: [macos,windows,linux]
+    needs: [macos,windows,linux,linux-arm]
     permissions: 
       contents: write
       packages: write 
@@ -82,18 +98,22 @@ jobs:
           echo $VERSION_SEMVER
           echo ${{ steps.vars.outputs.tag }}
       - name: Download math result for job Windows
-        uses: actions/download-artifact@v3
+        uses: actions/download-artifact@v4
         with:
           name: win-lib 
           path: src/main/resources/windows-x86_64/
-
+      - name: Download math result for job Linux Arm
+        uses: actions/download-artifact@v4
+        with:
+          name: linux-arm-lib 
+          path: src/main/resources/linux-arm64/           
       - name: Download math result for job Linux
-        uses: actions/download-artifact@v3
+        uses: actions/download-artifact@v4
         with:
           name: linux-lib 
           path: src/main/resources/linux-x86_64/ 
       - name: Download math result for job Mac
-        uses: actions/download-artifact@v3
+        uses: actions/download-artifact@v4
         with:
           name: mac-lib
           path: src/main/resources/macosx-x86_64/

build-linux-arm.sh

@@ -0,0 +1,67 @@
+#!/bin/bash
+
+echo "Linux Arm Build"
+VER=$(cat mujocoRelease.txt)
+TYPE=linux-arm64
+ARCHIVE=mujoco-$VER-linux-aarch64.tar.gz
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+JAVADIR=$SCRIPT_DIR/src/main/java/
+
+BUILDDIR=$SCRIPT_DIR/cppbuild
+if [ -f "$SCRIPT_DIR/$ARCHIVE" ]; then
+    echo "$ARCHIVE exists."
+else
+	wget https://github.com/deepmind/mujoco/releases/download/$VER/$ARCHIVE -O $SCRIPT_DIR/$ARCHIVE
+fi
+rm -rf $SCRIPT_DIR/cppbuild
+mkdir -p $BUILDDIR
+cd $BUILDDIR
+tar -xf $SCRIPT_DIR/$ARCHIVE
+mv $BUILDDIR/mujoco-$VER $BUILDDIR/mujoco/
+rm $BUILDDIR/mujoco/lib/libmujoco.so
+mv $BUILDDIR/mujoco/lib/libmujoco.so.$VER $BUILDDIR/mujoco/lib/libmujoco.so
+mv $BUILDDIR/mujoco/lib/* $JAVADIR/
+mv $BUILDDIR/mujoco/include/mujoco $JAVADIR/
+
+cd $SCRIPT_DIR/
+
+
+set -e
+JAVACPP_VER=1.5.7
+JAVACPP=javacpp-platform-$JAVACPP_VER-bin.zip
+if [ -f "$JAVACPP" ]; then
+    echo "$JAVACPP exists."
+else
+	wget https://github.com/bytedeco/javacpp/releases/download/$JAVACPP_VER/$JAVACPP -O $JAVACPP
+	unzip $JAVACPP
+fi
+echo "Include"
+ls $JAVADIR/mujoco/
+echo "Lib"
+ls $BUILDDIR/
+cd $JAVADIR
+
+echo "JavaCPP configs:"
+$JAVA_HOME/bin/java -jar $SCRIPT_DIR/javacpp-platform-$JAVACPP_VER-bin/javacpp.jar -Dcompiler.includepath=$BUILDDIR/include/ -print properties.includepath
+
+$JAVA_HOME/bin/java -jar $SCRIPT_DIR/javacpp-platform-$JAVACPP_VER-bin/javacpp.jar  org/mujoco/MuJoCoConfig.java
+echo "Start compile \n\n"
+$JAVA_HOME/bin/java -jar $SCRIPT_DIR/javacpp-platform-$JAVACPP_VER-bin/javacpp.jar  -copylibs -copyresources -Xcompiler "-no-pie"  -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
+mv $JAVADIR/org/mujoco/$TYPE/ $JAVADIR../resources/
+mv $JAVADIR/libmujoco.so  $JAVADIR../resources/$TYPE/
+rm -rf $JAVADIR/mujoco
+echo "ls -al $JAVADIR../resources/"
+ls -al $JAVADIR../resources/
+
+cd $SCRIPT_DIR/
+echo "Resources: "
+ls -al $JAVADIR../resources/$TYPE
+#mv $BUILDDIR/mujoco/ $BUILDDIR/mujoco-back/
+./gradlew jar  --stacktrace test
+#mv $BUILDDIR/mujoco-back/ $BUILDDIR/mujoco/
+
+

build-linux.sh

@@ -45,6 +45,7 @@ echo "JavaCPP configs:"
 $JAVA_HOME/bin/java -jar $SCRIPT_DIR/javacpp-platform-$JAVACPP_VER-bin/javacpp.jar -Dcompiler.includepath=$BUILDDIR/include/ -print properties.includepath
 
 $JAVA_HOME/bin/java -jar $SCRIPT_DIR/javacpp-platform-$JAVACPP_VER-bin/javacpp.jar  org/mujoco/MuJoCoConfig.java
+
 echo "Start compile \n\n"
 $JAVA_HOME/bin/java -jar $SCRIPT_DIR/javacpp-platform-$JAVACPP_VER-bin/javacpp.jar  -copylibs -copyresources -Xcompiler "-no-pie"  -Xcompiler "-I$JAVADIR" -Xcompiler "-L$JAVADIR" org/mujoco/MuJoCoLib.java
 LIBPATH=$PWD/../resources/$TYPE/

build.gradle

@@ -24,16 +24,28 @@ dependencies {
 	implementation group: 'org.bytedeco', name: 'javacpp', version: '1.5.7'
 	// https://mvnrepository.com/artifact/javax.xml.bind/jaxb-api
 	implementation group: 'javax.xml.bind', name: 'jaxb-api', version: '2.3.1'
-    implementation 'net.codesup.util:jaxb2-rich-contract-plugin:2.1.0'
-
-}
+	implementation 'net.codesup.util:jaxb2-rich-contract-plugin:2.1.0'
+
+	//Java17 update
+	// JAXB API
+	implementation 'javax.xml.bind:jaxb-api:2.3.1'
+
+	// JAXB Implementation
+	implementation 'com.sun.xml.bind:jaxb-impl:2.3.1'
 
+	// JAXB Core
+	implementation 'com.sun.xml.bind:jaxb-core:2.3.0.1'
 
-if(JavaVersion.current() != JavaVersion.VERSION_1_8){
-	throw new GradleException("This build must be run with java 8")
+	// Java Activation needed by JAXB
+	implementation 'javax.activation:javax.activation-api:1.2.0'
 }
 
 
+//if(JavaVersion.current() != JavaVersion.VERSION_1_8){
+//	throw new GradleException("This build must be run with java 8")
+//}
+
+
 group='com.neuronrobotics'
 archivesBaseName='mujoco-java'
 version = System.getenv("VERSION_SEMVER")

mujocoRelease.txt

@@ -1 +1 @@
-3.1.3
+3.1.3

src/main/java/com/kscs/util/jaxb/PartialCopyable.java

@@ -32,7 +32,7 @@ public interface PartialCopyable<T extends PartialCopyable<T>> {
 
 	/**
 	 * Clones this instances partially, the parts
-	 * will be defined by <tt>propertyTree</tt>
+	 * will be defined by propertyTree
 	 *
 	 * @param propertyTree Defines which parts of the object tree will be cloned or excluded
 	 * @param propertyTreeUse Defines how the clone graph will be used: To include or to exclude properties.
@@ -42,7 +42,7 @@ public interface PartialCopyable<T extends PartialCopyable<T>> {
 
 	/**
 	 * Clones this instances partially, the parts
-	 * to be EXCLUDED will be defined by <tt>propertyTree</tt>
+	 * to be EXCLUDED will be defined by propertyTree
 	 *
 	 * @param propertyTree Defines which parts of the object tree will be excluded
 	 * @return A copy of the original object.
@@ -51,7 +51,7 @@ public interface PartialCopyable<T extends PartialCopyable<T>> {
 
 	/**
 	 * Clones this instances partially, the parts
-	 * to be INCLUDED will be defined by <tt>propertyTree</tt>,
+	 * to be INCLUDED will be defined by propertyTree,
 	 * all other parts will be excluded.
 	 *
 	 * @param propertyTree Defines which parts of the object tree will be included in the clone