Merge pull request #281 from google-deepmind/deepmind

Merge deepmind to main

Author: nimrod-gileadi

.github/workflows/build.yml

@@ -19,13 +19,11 @@ jobs:
               -DCMAKE_C_COMPILER:STRING=clang-12
               -DCMAKE_CXX_COMPILER:STRING=clang++-12
               -DMJPC_BUILD_GRPC_SERVICE:BOOL=ON
-            additional_targets: "agent_server direct_server filter_server"
             tmpdir: "/tmp"
           - os: macos-12
             cmake_args: >-
               -G Ninja
               -DMJPC_BUILD_GRPC_SERVICE:BOOL=ON
-            additional_targets: "agent_server direct_server filter_server"
             tmpdir: "/tmp"
 
     name: "MuJoCo MPC on ${{ matrix.os }} ${{ matrix.additional_label }}"
@@ -43,9 +41,10 @@ jobs:
         libxrandr-dev
         libxi-dev
         ninja-build
+        zlib1g-dev
     - name: Prepare macOS
       if: ${{ runner.os == 'macOS' }}
-      run: brew install ninja
+      run: brew install ninja zlib
     - name: Prepare Windows
       if: ${{ runner.os == 'Windows' }}
       # Install llvm 16 manually, remove after
@@ -68,10 +67,12 @@ jobs:
         $cmake_extra_args
     - name: Build MuJoCo MPC
       working-directory: build
-      run: cmake --build . --config=Release ${{ matrix.cmake_build_args }} --target mjpc agent_test agent_utilities_test cost_derivatives_test norm_test rollout_test threadpool_test trajectory_test direct_force_test direct_optimize_test direct_parameter_test direct_sensor_test direct_trajectory_test direct_utilities_test batch_filter_test batch_prior_test kalman_test spline_test unscented_test cubic_test gradient_planner_test gradient_test linear_test zero_test backward_pass_test ilqg_test robust_planner_test sampling_planner_test state_test task_test utilities_test ${{ matrix.additional_targets }}
+      run: cmake --build . --config=Release ${{ matrix.cmake_build_args }}
     - name: Test MuJoCo MPC
       working-directory: build
-      run: ctest -C Release --output-on-failure .
+      run: >
+        cd mjpc/test &&
+        ctest -C Release --output-on-failure .
     - name: Notify team chat
       shell: bash
       env:

mjpc/grpc/CMakeLists.txt

@@ -20,6 +20,10 @@ set(BUILD_SHARED_LIBS
   CACHE INTERNAL "Build SHARED libraries"
 )
 
+find_package(ZLIB REQUIRED)
+set(gRPC_ZLIB_PROVIDER "package" CACHE INTERNAL "")
+set(ZLIB_BUILD_EXAMPLES OFF)
+
 findorfetch(
   USE_SYSTEM_PACKAGE
   OFF
@@ -35,9 +39,6 @@ findorfetch(
   gRPC
 )
 
-find_package(ZLIB REQUIRED)
-set(gRPC_ZLIB_PROVIDER "package" CACHE INTERNAL "")
-set(ZLIB_BUILD_EXAMPLES OFF)
 set(_PROTOBUF_LIBPROTOBUF libprotobuf)
 set(_REFLECTION grpc++_reflection)
 set(_PROTOBUF_PROTOC $<TARGET_FILE:protoc>)