Merge branch 'main' of https://luckyrobots.com/luckyrobots/luckyworld

.gitea/workflows/unreal-build.yml

@@ -52,182 +52,169 @@ jobs:
       - name: Checkout repository
         uses: actions/checkout@v3
         with:
-          fetch-depth: 1
           lfs: true
-      
-      - name: Cache build dependencies
-        uses: actions/cache@v3
-        with:
-          path: |
-            ~/Library/Caches/Unreal Engine
-            Intermediate/
-            Saved/
-            DerivedDataCache/
-          key: ${{ runner.os }}-unreal-build-${{ hashFiles('**/*.uproject') }}
-          restore-keys: |
-            ${{ runner.os }}-unreal-build-
-      
-      - name: Environment Diagnostics
-        run: |
-          echo "=== System Information ==="
-          uname -a
-          sw_vers
-          
-          echo "=== Current User ==="
-          whoami
-          id
-          
-          echo "=== Key Directories ==="
-          echo "Home directory:"
-          ls -la $HOME
-          
-          echo "Epic Games directory:"
-          ls -la /Users/Shared || echo "Shared directory not accessible"
-          ls -la "/Users/Shared/Epic Games" || echo "Epic Games directory not accessible"
-          ls -la "/Users/Shared/Epic Games/UE_5.5" || echo "UE_5.5 directory not accessible"
-          
-          echo "=== Permissions ==="
-          ls -la "/Users/Shared"
-          
-          echo "=== Engine Source Directory ==="
-          mkdir -p "/Users/Shared/Epic Games/UE_5.5/Engine/Source" || echo "Failed to create Engine/Source directory"
-          touch "/Users/Shared/Epic Games/UE_5.5/Engine/Source/test.txt" || echo "Failed to create test file in Engine/Source"
-          ls -la "/Users/Shared/Epic Games/UE_5.5/Engine/Source" || echo "Cannot list Engine/Source directory"
-      
-      - name: Setup MuJoCo Dummy File
-        run: |
-          echo "Creating dummy MuJoCo libraries for build testing..."
-          
-          # Set up MuJoCo library directory
-          MUJOCO_LIB_DIR="Plugins/LuckyMujoco/Source/ThirdParty/Mujoco/lib"
-          mkdir -p "$MUJOCO_LIB_DIR"
-          
-          # Create a dummy dylib file with proper structure (small binary with MuJoCo symbol exports)
-          cat > "$MUJOCO_LIB_DIR/mujoco.dylib" << 'EOF'
-          #!/bin/bash
-          # This is a dummy file to simulate the MuJoCo library
-          # It contains just enough binary content to pass basic checks
-          EOF
-          
-          # Make it executable
-          chmod +x "$MUJOCO_LIB_DIR/mujoco.dylib"
-          
-          echo "Verifying dummy file:"
-          ls -la "$MUJOCO_LIB_DIR/mujoco.dylib"
-          
-          # Place copies in all the necessary locations
-          UE_ENGINE_PATH="/Users/Shared/Epic Games/UE_5.5/Engine"
-          
-          # Create directories and copy the dummy file
-          sudo mkdir -p "${UE_ENGINE_PATH}/Source"
-          sudo mkdir -p "${UE_ENGINE_PATH}/Binaries/Mac"
-          sudo mkdir -p /usr/local/lib
-          
-          sudo cp -f "$MUJOCO_LIB_DIR/mujoco.dylib" "${UE_ENGINE_PATH}/Source/mujoco.dylib"
-          sudo cp -f "$MUJOCO_LIB_DIR/mujoco.dylib" "${UE_ENGINE_PATH}/Binaries/Mac/mujoco.dylib"
-          sudo cp -f "$MUJOCO_LIB_DIR/mujoco.dylib" "/usr/local/lib/mujoco.dylib"
-          
-          # Make them all executable
-          sudo chmod +x "${UE_ENGINE_PATH}/Source/mujoco.dylib"
-          sudo chmod +x "${UE_ENGINE_PATH}/Binaries/Mac/mujoco.dylib"
-          sudo chmod +x "/usr/local/lib/mujoco.dylib"
-          
-          echo "MuJoCo dummy libraries created and deployed!"
+          fetch-depth: 0
       
       - name: Setup Unreal Engine
         run: |
-          # Install necessary tools
-          brew install unar  # Using unar instead of unrar (which is no longer available)
-          brew install coreutils  # For realpath
-          
           # Use the correct path where Unreal Engine is installed
-          # Note: Paths with spaces need special handling
-          UE_PATH="/Users/Shared/Epic\ Games/UE_5.5"
+          UE_PATH="/Users/Shared/Epic Games/UE_5.5"
           
-          # Check the directory exists but use unescaped version for test
-          if [ ! -d "/Users/Shared/Epic Games/UE_5.5" ]; then
+          if [ ! -d "$UE_PATH" ]; then
             echo "Error: Unreal Engine is not installed in the expected location"
-            echo "Please ensure Unreal Engine is installed at /Users/Shared/Epic Games/UE_5.5"
+            echo "Please ensure Unreal Engine is installed at $UE_PATH"
             exit 1
           fi
           
-          # Set environment variables with proper escaping
-          # Use double quotes to preserve the backslash escaping
-          echo "UE_ROOT=\"${UE_PATH}/Engine\"" >> $GITHUB_ENV
-          echo "UE_PATH=\"${UE_PATH}\"" >> $GITHUB_ENV
-          
-          # Export variables directly for this script
-          export UE_ROOT="${UE_PATH}/Engine"
-          export UE_PATH="${UE_PATH}"
+          # Set environment variable with the correct Engine path
+          echo "UE_ROOT=$UE_PATH/Engine" >> $GITHUB_ENV
+          echo "UE_PATH=$UE_PATH" >> $GITHUB_ENV
+          source $GITHUB_ENV
           
           echo "Unreal Engine paths:"
           echo "UE_ROOT=$UE_ROOT"
           echo "UE_PATH=$UE_PATH"
           
-          # Set up environment for the build
-          UE_ENGINE_PATH="/Users/Shared/Epic Games/UE_5.5/Engine"
-          export DYLD_LIBRARY_PATH="$(pwd)/Plugins/LuckyMujoco/Source/ThirdParty/Mujoco/lib:${UE_ENGINE_PATH}/Source:${UE_ENGINE_PATH}/Binaries/Mac:/usr/local/lib:$DYLD_LIBRARY_PATH"
-          export DYLD_FRAMEWORK_PATH="${UE_ENGINE_PATH}/Binaries/Mac:$DYLD_FRAMEWORK_PATH"
-          export DYLD_FALLBACK_LIBRARY_PATH="${UE_ENGINE_PATH}/Binaries/Mac:${UE_ENGINE_PATH}/Source:/usr/local/lib:$DYLD_FALLBACK_LIBRARY_PATH"
-      
-      - name: Build Unreal Project
-        run: |
-          # Ensure required tools are installed
-          if ! command -v realpath &> /dev/null; then
-            echo "realpath not found, using alternative method for absolute path"
-            REALPATH_CMD="pwd -P"
-          else
-            REALPATH_CMD="realpath"
+          # Set up MuJoCo library
+          MUJOCO_LIB_DIR="Plugins/LuckyMujoco/Source/ThirdParty/Mujoco/lib"
+          mkdir -p "$MUJOCO_LIB_DIR"
+          
+          # Try to find mujoco.dylib in the repository
+          if [ -f "Plugins/UEMujoco.rar" ]; then
+            echo "Found UEMujoco.rar, attempting to extract..."
+            mkdir -p /tmp/mujoco_extract
+            unrar x "Plugins/UEMujoco.rar" /tmp/mujoco_extract || echo "Failed to extract UEMujoco.rar"
+            
+            # Look for mujoco.dylib in extracted files
+            DYLIB_PATH=$(find /tmp/mujoco_extract -name "mujoco.dylib" | head -1)
+            if [ -n "$DYLIB_PATH" ]; then
+              echo "Found mujoco.dylib at $DYLIB_PATH"
+              cp "$DYLIB_PATH" "$MUJOCO_LIB_DIR/"
+            else
+              echo "Could not find mujoco.dylib in extracted files"
+            fi
           fi
           
-          # Use direct path instead of environment variable
-          UE_ENGINE_PATH="/Users/Shared/Epic Games/UE_5.5/Engine"
+          # If still no dylib, try to download it
+          if [ ! -f "$MUJOCO_LIB_DIR/mujoco.dylib" ]; then
+            echo "Attempting to download mujoco.dylib..."
+            curl -L -o "$MUJOCO_LIB_DIR/mujoco.dylib" "https://github.com/deepmind/mujoco/releases/download/2.3.7/mujoco-2.3.7-macos-universal2.dmg"
+          fi
           
-          # Find project file (using direct find instead of recursive search for speed)
-          UPROJECT_PATH=$(find . -maxdepth 1 -name "*.uproject" -type f | head -1)
-          if [ -z "$UPROJECT_PATH" ]; then
-            echo "Error: Could not find .uproject file in root directory"
+          # Verify the library exists
+          if [ ! -f "$MUJOCO_LIB_DIR/mujoco.dylib" ]; then
+            echo "ERROR: Failed to set up mujoco.dylib"
             exit 1
           fi
           
-          # Convert to absolute path (handle potential realpath availability issues)
-          if command -v realpath &> /dev/null; then
-            UPROJECT_ABSOLUTE_PATH=$(realpath "$UPROJECT_PATH")
-          else
-            UPROJECT_ABSOLUTE_PATH="$(cd "$(dirname "$UPROJECT_PATH")" && pwd)/$(basename "$UPROJECT_PATH")"
+          # Make sure the library is executable
+          chmod +x "$MUJOCO_LIB_DIR/mujoco.dylib"
+          
+          # Try multiple locations for the mujoco library
+          # 1. Create directory in Engine/Source
+          mkdir -p "$UE_ROOT/Source"
+          echo "Created directory: $UE_ROOT/Source"
+          
+          # 2. Copy the library directly (don't rely on symlinks)
+          cp "$(pwd)/$MUJOCO_LIB_DIR/mujoco.dylib" "$UE_ROOT/Source/"
+          echo "Copied library to: $UE_ROOT/Source/mujoco.dylib"
+          
+          # 3. Also copy to Binaries/Mac directory
+          mkdir -p "$UE_ROOT/Binaries/Mac"
+          cp "$(pwd)/$MUJOCO_LIB_DIR/mujoco.dylib" "$UE_ROOT/Binaries/Mac/"
+          echo "Copied library to: $UE_ROOT/Binaries/Mac/mujoco.dylib"
+          
+          # 4. Add a fallback into /usr/local/lib
+          sudo mkdir -p /usr/local/lib
+          sudo cp "$(pwd)/$MUJOCO_LIB_DIR/mujoco.dylib" /usr/local/lib/
+          echo "Copied library to: /usr/local/lib/mujoco.dylib"
+          
+          # Verify library files exist
+          echo "Verifying library placements:"
+          ls -la "$(pwd)/$MUJOCO_LIB_DIR"
+          ls -la "$UE_ROOT/Source" || echo "Failed to list Source directory"
+          ls -la "$UE_ROOT/Binaries/Mac" || echo "Failed to list Binaries/Mac directory"
+          ls -la /usr/local/lib/mujoco.dylib || echo "Failed to list library in /usr/local/lib"
+          
+          # Set up environment for the build
+          export DYLD_LIBRARY_PATH="$(pwd)/Plugins/LuckyMujoco/Source/ThirdParty/Mujoco/lib:$UE_ROOT/Source:$UE_ROOT/Binaries/Mac:/usr/local/lib:$DYLD_LIBRARY_PATH"
+          export DYLD_FRAMEWORK_PATH="$UE_ROOT/Binaries/Mac:$DYLD_FRAMEWORK_PATH"
+          export DYLD_FALLBACK_LIBRARY_PATH="$UE_ROOT/Binaries/Mac:$UE_ROOT/Source:/usr/local/lib:$DYLD_FALLBACK_LIBRARY_PATH"
+          
+          echo "Build environment:"
+          echo "DYLD_LIBRARY_PATH=$DYLD_LIBRARY_PATH"
+          echo "DYLD_FRAMEWORK_PATH=$DYLD_FRAMEWORK_PATH"
+          echo "DYLD_FALLBACK_LIBRARY_PATH=$DYLD_FALLBACK_LIBRARY_PATH"
+      
+      - name: Build Unreal Project
+        run: |
+          # Debug information
+          echo "=== Environment Information ==="
+          echo "macOS Version:"
+          sw_vers
+          echo "Current working directory: $(pwd)"
+          ls -la  # List all files in current directory
+          
+          echo "=== Unreal Engine Information ==="
+          ls -la "$UE_ROOT/Build/BatchFiles"
+          
+          echo "=== Project Information ==="
+          # Detailed search for the project file
+          echo "Searching for .uproject files:"
+          find . -name "*.uproject" -type f
+          
+          # Get the absolute path of the project file
+          UPROJECT_PATH=$(find . -name "*.uproject" -type f | head -1)
+          if [ -z "$UPROJECT_PATH" ]; then
+            echo "Error: Could not find .uproject file"
+            exit 1
           fi
+          
+          # Convert to absolute path and verify file exists
+          UPROJECT_ABSOLUTE_PATH=$(realpath "$UPROJECT_PATH")
           echo "Project absolute path: $UPROJECT_ABSOLUTE_PATH"
           
+          if [ ! -f "$UPROJECT_ABSOLUTE_PATH" ]; then
+            echo "Error: Project file does not exist at: $UPROJECT_ABSOLUTE_PATH"
+            exit 1
+          fi
+          
+          echo "Using Unreal Engine at: $UE_ROOT"
+          
           # Make the project file readable and executable
           chmod 755 "$UPROJECT_ABSOLUTE_PATH"
           
-          # Ensure RunUAT.sh is executable
-          chmod +x "${UE_ENGINE_PATH}/Build/BatchFiles/RunUAT.sh"
+          # Run the build using absolute paths
+          chmod +x "$UE_ROOT/Build/BatchFiles/RunUAT.sh"
           
-          # Set environment variables again to ensure they're available in this step
-          export DYLD_LIBRARY_PATH="$(pwd)/Plugins/LuckyMujoco/Source/ThirdParty/Mujoco/lib:${UE_ENGINE_PATH}/Source:${UE_ENGINE_PATH}/Binaries/Mac:/usr/local/lib:$DYLD_LIBRARY_PATH"
-          export DYLD_FRAMEWORK_PATH="${UE_ENGINE_PATH}/Binaries/Mac:$DYLD_FRAMEWORK_PATH"
-          export DYLD_FALLBACK_LIBRARY_PATH="${UE_ENGINE_PATH}/Binaries/Mac:${UE_ENGINE_PATH}/Source:/usr/local/lib:$DYLD_FALLBACK_LIBRARY_PATH"
+          # Source environment variables again to ensure they are properly set
+          source $GITHUB_ENV
           
-          # Verify library locations once more
-          echo "Verifying library locations before build:"
+          # Set up runtime environment for the build
+          export DYLD_LIBRARY_PATH="$(pwd)/Plugins/LuckyMujoco/Source/ThirdParty/Mujoco/lib:$UE_ROOT/Source:$UE_ROOT/Binaries/Mac:/usr/local/lib:$DYLD_LIBRARY_PATH"
+          export DYLD_FRAMEWORK_PATH="$UE_ROOT/Binaries/Mac:$DYLD_FRAMEWORK_PATH"
+          export DYLD_FALLBACK_LIBRARY_PATH="$UE_ROOT/Binaries/Mac:$UE_ROOT/Source:/usr/local/lib:$DYLD_FALLBACK_LIBRARY_PATH"
+          
+          echo "Final build environment:"
+          echo "UE_ROOT=$UE_ROOT"
+          echo "UE_PATH=$UE_PATH"
           echo "DYLD_LIBRARY_PATH=$DYLD_LIBRARY_PATH"
-          ls -la "${UE_ENGINE_PATH}/Source/mujoco.dylib" || echo "Library not found in ${UE_ENGINE_PATH}/Source"
           
-          # Speed up build by using optimal parameters
-          echo "Starting build process..."
-          "${UE_ENGINE_PATH}/Build/BatchFiles/RunUAT.sh" BuildCookRun \
+          echo "Checking for mujoco.dylib in key locations:"
+          ls -l "$UE_ROOT/Source/mujoco.dylib" || echo "Library not found in $UE_ROOT/Source"
+          ls -l "$UE_ROOT/Binaries/Mac/mujoco.dylib" || echo "Library not found in $UE_ROOT/Binaries/Mac"
+          ls -l "/usr/local/lib/mujoco.dylib" || echo "Library not found in /usr/local/lib"
+          
+          # Run the build with additional debug output
+          echo "Running build command..."
+          
+          "$UE_ROOT/Build/BatchFiles/RunUAT.sh" BuildCookRun \
             -project="$UPROJECT_ABSOLUTE_PATH" \
             -noP4 \
             -platform=Mac \
             -clientconfig=Development \
             -cook -build -stage -pak -archive \
-            -archivedirectory="$(pwd)/Build" \
-            -SkipCookingEditorContent \
-            -iterativecooking \
-            -fastcook \
-            -compressed \
-            -allmaps
+            -archivedirectory="$(pwd)/Build"
       
       - name: Upload build artifacts
         uses: actions/upload-artifact@v3