Adding Linux Arm Build

Author: madhephaestus

.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:

build-linux-arm.sh

@@ -0,0 +1,67 @@
+#!/bin/bash
+
+echo "Linux Arm Build"
+VER=$(cat mujocoRelease.txt)
+TYPE=linux-aarch64
+ARCHIVE=mujoco-$VER-$TYPE.tar.gz
+SCRIPT_DIR=$( 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/
+
+