From 80374e47083700a7df13a5611c1f956a750e8d5b Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Tue, 16 Sep 2025 02:11:25 +0900
Subject: [PATCH 01/33] chore(workflow): run CI on both x86_64 and aarch64
 Linux

---
 .github/workflows/CI.yml | 19 +++++++++++++++----
 1 file changed, 15 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index e6ceab5..5b59c13 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -13,7 +13,8 @@ jobs:
     
     strategy:
       matrix:
-        toolchain: [stable, nightly]
+        toolchain: ['stable', 'nightly']
+        platform: ['x86_64-unknown-linux-gnu', 'aarch64-unknown-linux-gnu']
 
     steps:
       - uses: actions/checkout@v5
@@ -21,9 +22,12 @@ jobs:
       - run: |
           rustup update
           rustup default ${{ matrix.toolchain }}
-          rustup component add rustfmt  ### required for the build script to work ###
+          rustup component add rustfmt   ### required for the build script to work ###
+          rustup target add ${{ matrix.platform }}
 
       - name: check fails without MUJOCO_DIR
+        env:
+          CARGO_BUILD_TARGET: ${{ matrix.platform }}
         run: |
           if cargo build; then
             echo 'cargo check succeeded without mujoco, which is unexpected.'
@@ -42,6 +46,8 @@ jobs:
           echo "LD_LIBRARY_PATH=$HOME/.mujoco/mujoco-3.3.2/lib:$LD_LIBRARY_PATH" >> $GITHUB_ENV
           
       - name: check succeeds with MUJOCO_DIR
+        env:
+          CARGO_BUILD_TARGET: ${{ matrix.platform }}
         run: |
           if cargo build; then
             echo 'cargo check succeeded with mujoco, as expected.'
@@ -57,15 +63,18 @@ jobs:
     strategy:
       matrix:
         toolchain: [stable, nightly]
+        platform: ['x86_64-unknown-linux-gnu', 'aarch64-unknown-linux-gnu']
 
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v5
 
       - name: setup
         run: |
           rustup update
           rustup default ${{ matrix.toolchain }}
-          rustup component add rustfmt  ### required for the build script to work ###
+          rustup component add rustfmt   ### required for the build script to work ###
+          rustup target add ${{ matrix.platform }}
+          
           mkdir -p $HOME/.mujoco
           cd $HOME/.mujoco
           wget https://github.com/google-deepmind/mujoco/releases/download/3.3.2/mujoco-3.3.2-linux-x86_64.tar.gz
@@ -81,6 +90,8 @@ jobs:
           cmake .. && make && sudo make install
           
       - name: run tests
+        env:
+          CARGO_BUILD_TARGET: ${{ matrix.platform }}
         run: |
           cargo test --lib
           cargo test --doc

From 45a80256a0c0f6d419abb9b1e84b1f460600fba9 Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Tue, 16 Sep 2025 02:17:58 +0900
Subject: [PATCH 02/33] fix mujoco downloading

---
 .github/workflows/CI.yml | 18 ++++++++++++++----
 1 file changed, 14 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 5b59c13..dcd1e27 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -40,8 +40,13 @@ jobs:
         run: |
           mkdir -p $HOME/.mujoco
           cd $HOME/.mujoco
-          wget https://github.com/google-deepmind/mujoco/releases/download/3.3.2/mujoco-3.3.2-linux-x86_64.tar.gz
-          tar -xzf mujoco-3.3.2-linux-x86_64.tar.gz
+          if [ "${{ matrix.platform }}" = "x86_64-unknown-linux-gnu" ]; then
+            wget https://github.com/google-deepmind/mujoco/releases/download/3.3.2/mujoco-3.3.2-linux-x86_64.tar.gz
+            tar -xzf mujoco-3.3.2-linux-x86_64.tar.gz
+          elif [ "${{ matrix.platform }}" = "aarch64-unknown-linux-gnu" ]; then
+            wget https://github.com/google-deepmind/mujoco/releases/download/3.3.2/mujoco-3.3.2-linux-aarch64.tar.gz
+            tar -xzf mujoco-3.3.2-linux-aarch64.tar.gz
+          fi
           echo "MUJOCO_DIR=$HOME/.mujoco/mujoco-3.3.2" >> $GITHUB_ENV
           echo "LD_LIBRARY_PATH=$HOME/.mujoco/mujoco-3.3.2/lib:$LD_LIBRARY_PATH" >> $GITHUB_ENV
           
@@ -77,8 +82,13 @@ jobs:
           
           mkdir -p $HOME/.mujoco
           cd $HOME/.mujoco
-          wget https://github.com/google-deepmind/mujoco/releases/download/3.3.2/mujoco-3.3.2-linux-x86_64.tar.gz
-          tar -xzf mujoco-3.3.2-linux-x86_64.tar.gz
+          if [ "${{ matrix.platform }}" = "x86_64-unknown-linux-gnu" ]; then
+            wget https://github.com/google-deepmind/mujoco/releases/download/3.3.2/mujoco-3.3.2-linux-x86_64.tar.gz
+            tar -xzf mujoco-3.3.2-linux-x86_64.tar.gz
+          elif [ "${{ matrix.platform }}" = "aarch64-unknown-linux-gnu" ]; then
+            wget https://github.com/google-deepmind/mujoco/releases/download/3.3.2/mujoco-3.3.2-linux-aarch64.tar.gz
+            tar -xzf mujoco-3.3.2-linux-aarch64.tar.gz
+          fi
           echo "MUJOCO_DIR=$HOME/.mujoco/mujoco-3.3.2" >> $GITHUB_ENV
           echo "LD_LIBRARY_PATH=$HOME/.mujoco/mujoco-3.3.2/lib:$LD_LIBRARY_PATH" >> $GITHUB_ENV
       

From 23eb32082f3b29afa3f8cec484398bf569b91213 Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Tue, 16 Sep 2025 02:39:39 +0900
Subject: [PATCH 03/33] refactor around matrix & specify `C_INCLUDE_PATH`,
 `CPLUS_INCLUDE_PATH`

---
 .github/workflows/CI.yml | 38 +++++++++++++++++---------------------
 1 file changed, 17 insertions(+), 21 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index dcd1e27..c1e57c7 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -14,7 +14,7 @@ jobs:
     strategy:
       matrix:
         toolchain: ['stable', 'nightly']
-        platform: ['x86_64-unknown-linux-gnu', 'aarch64-unknown-linux-gnu']
+        arch: ['x86_64', 'aarch64']
 
     steps:
       - uses: actions/checkout@v5
@@ -23,11 +23,13 @@ jobs:
           rustup update
           rustup default ${{ matrix.toolchain }}
           rustup component add rustfmt   ### required for the build script to work ###
-          rustup target add ${{ matrix.platform }}
+          rustup target add ${{ matrix.arch }}-unknown-linux-gnu
 
       - name: check fails without MUJOCO_DIR
         env:
-          CARGO_BUILD_TARGET: ${{ matrix.platform }}
+          CARGO_BUILD_TARGET: ${{ matrix.arch }}-unknown-linux-gnu
+          C_INCLUDE_PATH: /usr/include/${{ matrix.arch }}-linux-gnu
+          CPLUS_INCLUDE_PATH: /usr/include/${{ matrix.arch }}-linux-gnu
         run: |
           if cargo build; then
             echo 'cargo check succeeded without mujoco, which is unexpected.'
@@ -40,19 +42,16 @@ jobs:
         run: |
           mkdir -p $HOME/.mujoco
           cd $HOME/.mujoco
-          if [ "${{ matrix.platform }}" = "x86_64-unknown-linux-gnu" ]; then
-            wget https://github.com/google-deepmind/mujoco/releases/download/3.3.2/mujoco-3.3.2-linux-x86_64.tar.gz
-            tar -xzf mujoco-3.3.2-linux-x86_64.tar.gz
-          elif [ "${{ matrix.platform }}" = "aarch64-unknown-linux-gnu" ]; then
-            wget https://github.com/google-deepmind/mujoco/releases/download/3.3.2/mujoco-3.3.2-linux-aarch64.tar.gz
-            tar -xzf mujoco-3.3.2-linux-aarch64.tar.gz
-          fi
+          wget https://github.com/google-deepmind/mujoco/releases/download/3.3.2/mujoco-3.3.2-linux-${{ matrix.arch }}.tar.gz
+          tar -xzf mujoco-3.3.2-linux-${{ matrix.arch }}.tar.gz
           echo "MUJOCO_DIR=$HOME/.mujoco/mujoco-3.3.2" >> $GITHUB_ENV
           echo "LD_LIBRARY_PATH=$HOME/.mujoco/mujoco-3.3.2/lib:$LD_LIBRARY_PATH" >> $GITHUB_ENV
           
       - name: check succeeds with MUJOCO_DIR
         env:
-          CARGO_BUILD_TARGET: ${{ matrix.platform }}
+          CARGO_BUILD_TARGET: ${{ matrix.arch }}-unknown-linux-gnu
+          C_INCLUDE_PATH: /usr/include/${{ matrix.arch }}-linux-gnu
+          CPLUS_INCLUDE_PATH: /usr/include/${{ matrix.arch }}-linux-gnu
         run: |
           if cargo build; then
             echo 'cargo check succeeded with mujoco, as expected.'
@@ -68,7 +67,7 @@ jobs:
     strategy:
       matrix:
         toolchain: [stable, nightly]
-        platform: ['x86_64-unknown-linux-gnu', 'aarch64-unknown-linux-gnu']
+        arch: ['x86_64', 'aarch64']
 
     steps:
       - uses: actions/checkout@v5
@@ -78,17 +77,12 @@ jobs:
           rustup update
           rustup default ${{ matrix.toolchain }}
           rustup component add rustfmt   ### required for the build script to work ###
-          rustup target add ${{ matrix.platform }}
+          rustup target add ${{ matrix.arch }}
           
           mkdir -p $HOME/.mujoco
           cd $HOME/.mujoco
-          if [ "${{ matrix.platform }}" = "x86_64-unknown-linux-gnu" ]; then
-            wget https://github.com/google-deepmind/mujoco/releases/download/3.3.2/mujoco-3.3.2-linux-x86_64.tar.gz
-            tar -xzf mujoco-3.3.2-linux-x86_64.tar.gz
-          elif [ "${{ matrix.platform }}" = "aarch64-unknown-linux-gnu" ]; then
-            wget https://github.com/google-deepmind/mujoco/releases/download/3.3.2/mujoco-3.3.2-linux-aarch64.tar.gz
-            tar -xzf mujoco-3.3.2-linux-aarch64.tar.gz
-          fi
+          wget https://github.com/google-deepmind/mujoco/releases/download/3.3.2/mujoco-3.3.2-linux-${{ matrix.arch }}.tar.gz
+          tar -xzf mujoco-3.3.2-linux-${{ matrix.arch }}.tar.gz
           echo "MUJOCO_DIR=$HOME/.mujoco/mujoco-3.3.2" >> $GITHUB_ENV
           echo "LD_LIBRARY_PATH=$HOME/.mujoco/mujoco-3.3.2/lib:$LD_LIBRARY_PATH" >> $GITHUB_ENV
       
@@ -101,7 +95,9 @@ jobs:
           
       - name: run tests
         env:
-          CARGO_BUILD_TARGET: ${{ matrix.platform }}
+          CARGO_BUILD_TARGET: ${{ matrix.arch }}-unknown-linux-gnu
+          C_INCLUDE_PATH: /usr/include/${{ matrix.arch }}-linux-gnu
+          CPLUS_INCLUDE_PATH: /usr/include/${{ matrix.arch }}-linux-gnu
         run: |
           cargo test --lib
           cargo test --doc

From 8df6399803da9b96b49734ca16ea6fd54c6e42e9 Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Tue, 16 Sep 2025 03:00:48 +0900
Subject: [PATCH 04/33] considering cross-building on ubuntu-latest = x86_64

---
 .github/workflows/CI.yml | 24 ++++++++++++++----------
 1 file changed, 14 insertions(+), 10 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index c1e57c7..e67d664 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -22,15 +22,15 @@ jobs:
       - run: |
           rustup update
           rustup default ${{ matrix.toolchain }}
-          rustup component add rustfmt   ### required for the build script to work ###
           rustup target add ${{ matrix.arch }}-unknown-linux-gnu
+          rustup component add rustfmt   ### required for the build script to work ###
 
       - name: check fails without MUJOCO_DIR
-        env:
-          CARGO_BUILD_TARGET: ${{ matrix.arch }}-unknown-linux-gnu
-          C_INCLUDE_PATH: /usr/include/${{ matrix.arch }}-linux-gnu
-          CPLUS_INCLUDE_PATH: /usr/include/${{ matrix.arch }}-linux-gnu
         run: |
+          if [ "${{ matrix.arch }}" = 'aarch64' ]; then
+            export C_INCLUDE_PATH=/usr/aarch64-linux-gnu/include
+            export CPLUS_INCLUDE_PATH=/usr/aarch64-linux-gnu/include
+          fi
           if cargo build; then
             echo 'cargo check succeeded without mujoco, which is unexpected.'
             exit 1
@@ -50,9 +50,11 @@ jobs:
       - name: check succeeds with MUJOCO_DIR
         env:
           CARGO_BUILD_TARGET: ${{ matrix.arch }}-unknown-linux-gnu
-          C_INCLUDE_PATH: /usr/include/${{ matrix.arch }}-linux-gnu
-          CPLUS_INCLUDE_PATH: /usr/include/${{ matrix.arch }}-linux-gnu
         run: |
+          if [ "${{ matrix.arch }}" = 'aarch64' ]; then
+            export C_INCLUDE_PATH=/usr/aarch64-linux-gnu/include
+            export CPLUS_INCLUDE_PATH=/usr/aarch64-linux-gnu/include
+          fi
           if cargo build; then
             echo 'cargo check succeeded with mujoco, as expected.'
           else
@@ -76,8 +78,8 @@ jobs:
         run: |
           rustup update
           rustup default ${{ matrix.toolchain }}
+          rustup target add ${{ matrix.arch }}-unknown-linux-gnu
           rustup component add rustfmt   ### required for the build script to work ###
-          rustup target add ${{ matrix.arch }}
           
           mkdir -p $HOME/.mujoco
           cd $HOME/.mujoco
@@ -96,9 +98,11 @@ jobs:
       - name: run tests
         env:
           CARGO_BUILD_TARGET: ${{ matrix.arch }}-unknown-linux-gnu
-          C_INCLUDE_PATH: /usr/include/${{ matrix.arch }}-linux-gnu
-          CPLUS_INCLUDE_PATH: /usr/include/${{ matrix.arch }}-linux-gnu
         run: |
+          if [ "${{ matrix.arch }}" = 'aarch64' ]; then
+            export C_INCLUDE_PATH=/usr/aarch64-linux-gnu/include
+            export CPLUS_INCLUDE_PATH=/usr/aarch64-linux-gnu/include
+          fi
           cargo test --lib
           cargo test --doc
           cargo test --tests

From 5acca91e29ae1b461a206232d45ad46c0e9c0616 Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Tue, 16 Sep 2025 03:05:50 +0900
Subject: [PATCH 05/33] when aarch64 `export
 BINDGEN_EXTRA_CLANG_ARGS=-I/usr/aarch64-linux-gnu/include`

---
 .github/workflows/CI.yml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index e67d664..09d9e0b 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -30,6 +30,7 @@ jobs:
           if [ "${{ matrix.arch }}" = 'aarch64' ]; then
             export C_INCLUDE_PATH=/usr/aarch64-linux-gnu/include
             export CPLUS_INCLUDE_PATH=/usr/aarch64-linux-gnu/include
+            export BINDGEN_EXTRA_CLANG_ARGS=-I/usr/aarch64-linux-gnu/include
           fi
           if cargo build; then
             echo 'cargo check succeeded without mujoco, which is unexpected.'
@@ -54,6 +55,7 @@ jobs:
           if [ "${{ matrix.arch }}" = 'aarch64' ]; then
             export C_INCLUDE_PATH=/usr/aarch64-linux-gnu/include
             export CPLUS_INCLUDE_PATH=/usr/aarch64-linux-gnu/include
+            export BINDGEN_EXTRA_CLANG_ARGS=-I/usr/aarch64-linux-gnu/include
           fi
           if cargo build; then
             echo 'cargo check succeeded with mujoco, as expected.'
@@ -102,6 +104,7 @@ jobs:
           if [ "${{ matrix.arch }}" = 'aarch64' ]; then
             export C_INCLUDE_PATH=/usr/aarch64-linux-gnu/include
             export CPLUS_INCLUDE_PATH=/usr/aarch64-linux-gnu/include
+            export BINDGEN_EXTRA_CLANG_ARGS=-I/usr/aarch64-linux-gnu/include
           fi
           cargo test --lib
           cargo test --doc

From 647c641a66dcc0d023174915ce08b20ebba31f44 Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Tue, 16 Sep 2025 03:13:15 +0900
Subject: [PATCH 06/33] when aarch64 install g++-aarch64-linux-gnu

---
 .github/workflows/CI.yml | 19 ++++---------------
 1 file changed, 4 insertions(+), 15 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 09d9e0b..761df5e 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -24,14 +24,12 @@ jobs:
           rustup default ${{ matrix.toolchain }}
           rustup target add ${{ matrix.arch }}-unknown-linux-gnu
           rustup component add rustfmt   ### required for the build script to work ###
+          [ "${{ matrix.arch }}" = 'aarch64' ] && sudo apt update && sudo apt install -y g++-aarch64-linux-gnu
 
       - name: check fails without MUJOCO_DIR
+        env:
+          CARGO_BUILD_TARGET: ${{ matrix.arch }}-unknown-linux-gnu
         run: |
-          if [ "${{ matrix.arch }}" = 'aarch64' ]; then
-            export C_INCLUDE_PATH=/usr/aarch64-linux-gnu/include
-            export CPLUS_INCLUDE_PATH=/usr/aarch64-linux-gnu/include
-            export BINDGEN_EXTRA_CLANG_ARGS=-I/usr/aarch64-linux-gnu/include
-          fi
           if cargo build; then
             echo 'cargo check succeeded without mujoco, which is unexpected.'
             exit 1
@@ -52,11 +50,6 @@ jobs:
         env:
           CARGO_BUILD_TARGET: ${{ matrix.arch }}-unknown-linux-gnu
         run: |
-          if [ "${{ matrix.arch }}" = 'aarch64' ]; then
-            export C_INCLUDE_PATH=/usr/aarch64-linux-gnu/include
-            export CPLUS_INCLUDE_PATH=/usr/aarch64-linux-gnu/include
-            export BINDGEN_EXTRA_CLANG_ARGS=-I/usr/aarch64-linux-gnu/include
-          fi
           if cargo build; then
             echo 'cargo check succeeded with mujoco, as expected.'
           else
@@ -82,6 +75,7 @@ jobs:
           rustup default ${{ matrix.toolchain }}
           rustup target add ${{ matrix.arch }}-unknown-linux-gnu
           rustup component add rustfmt   ### required for the build script to work ###
+          [ "${{ matrix.arch }}" = 'aarch64' ] && sudo apt update && sudo apt install -y g++-aarch64-linux-gnu
           
           mkdir -p $HOME/.mujoco
           cd $HOME/.mujoco
@@ -101,11 +95,6 @@ jobs:
         env:
           CARGO_BUILD_TARGET: ${{ matrix.arch }}-unknown-linux-gnu
         run: |
-          if [ "${{ matrix.arch }}" = 'aarch64' ]; then
-            export C_INCLUDE_PATH=/usr/aarch64-linux-gnu/include
-            export CPLUS_INCLUDE_PATH=/usr/aarch64-linux-gnu/include
-            export BINDGEN_EXTRA_CLANG_ARGS=-I/usr/aarch64-linux-gnu/include
-          fi
           cargo test --lib
           cargo test --doc
           cargo test --tests

From cfabf9566b9f7154c78f55fa1ba36184f33ed003 Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Tue, 16 Sep 2025 03:16:30 +0900
Subject: [PATCH 07/33] prevent if-fail

---
 .github/workflows/CI.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 761df5e..14ee61c 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -24,7 +24,7 @@ jobs:
           rustup default ${{ matrix.toolchain }}
           rustup target add ${{ matrix.arch }}-unknown-linux-gnu
           rustup component add rustfmt   ### required for the build script to work ###
-          [ "${{ matrix.arch }}" = 'aarch64' ] && sudo apt update && sudo apt install -y g++-aarch64-linux-gnu
+          [ "${{ matrix.arch }}" = 'aarch64' ] && sudo apt update && sudo apt install -y g++-aarch64-linux-gnu || :
 
       - name: check fails without MUJOCO_DIR
         env:
@@ -75,7 +75,7 @@ jobs:
           rustup default ${{ matrix.toolchain }}
           rustup target add ${{ matrix.arch }}-unknown-linux-gnu
           rustup component add rustfmt   ### required for the build script to work ###
-          [ "${{ matrix.arch }}" = 'aarch64' ] && sudo apt update && sudo apt install -y g++-aarch64-linux-gnu
+          [ "${{ matrix.arch }}" = 'aarch64' ] && sudo apt update && sudo apt install -y g++-aarch64-linux-gnu || :
           
           mkdir -p $HOME/.mujoco
           cd $HOME/.mujoco

From 28e350fec1704775a13115eb5e63b0f88b1747e7 Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Tue, 16 Sep 2025 03:46:12 +0900
Subject: [PATCH 08/33] try `sudo dpkg --add-architecture arm64`, `:arm64` and
 `PKG_CONFIG_PATH=/usr/lib/aarch64-linux-gnu/pkgconfig`

---
 .github/workflows/CI.yml | 22 ++++++++++++++++------
 1 file changed, 16 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 14ee61c..2d4585f 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -63,7 +63,7 @@ jobs:
     
     strategy:
       matrix:
-        toolchain: [stable, nightly]
+        toolchain: ['stable', 'nightly']
         arch: ['x86_64', 'aarch64']
 
     steps:
@@ -84,12 +84,22 @@ jobs:
           echo "MUJOCO_DIR=$HOME/.mujoco/mujoco-3.3.2" >> $GITHUB_ENV
           echo "LD_LIBRARY_PATH=$HOME/.mujoco/mujoco-3.3.2/lib:$LD_LIBRARY_PATH" >> $GITHUB_ENV
       
-      - name: setup additional dependencies for examples
+#      - name: setup additional dependencies for examples
+#        run: |
+#          sudo apt update && sudo apt install -y cmake build-essential libwayland-dev libxkbcommon-x11-dev libgl1-mesa-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
+#          git clone https://github.com/glfw/glfw.git
+#          mkdir -p glfw/build && cd glfw/build
+#          cmake .. && make && sudo make install
+      - name: setup additional dependencies for examples (x86_64)
+        if: matrix.arch == 'x86_64'
+        run: |
+          sudo apt-get update && sudo apt-get install -y libglfw3-dev libwayland-dev libxkbcommon-x11-dev libgl1-mesa-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
+      - name: setup additional dependencies for examples (aarch64)
+        if: matrix.arch == 'aarch64'
         run: |
-          sudo apt update && sudo apt install -y cmake build-essential libwayland-dev libxkbcommon-x11-dev libgl1-mesa-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
-          git clone https://github.com/glfw/glfw.git
-          mkdir -p glfw/build && cd glfw/build
-          cmake .. && make && sudo make install
+          sudo dpkg --add-architecture arm64
+          sudo apt-get update && sudo apt-get install -y libglfw3-dev:arm64 libwayland-dev:arm64 libxkbcommon-x11-dev:arm64 libgl1-mesa-dev:arm64 libxcursor-dev:arm64 libxi-dev:arm64 libxinerama-dev:arm64 libxrandr-dev:arm64
+          echo "PKG_CONFIG_PATH=/usr/lib/aarch64-linux-gnu/pkgconfig" >> $GITHUB_ENV
           
       - name: run tests
         env:

From 47eccbc9afbaf9476ca1f8c18a5a7a41faf5709a Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Tue, 16 Sep 2025 03:53:45 +0900
Subject: [PATCH 09/33] try `libglfw3` apt package

---
 .github/workflows/CI.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 2d4585f..3e9396f 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -93,12 +93,12 @@ jobs:
       - name: setup additional dependencies for examples (x86_64)
         if: matrix.arch == 'x86_64'
         run: |
-          sudo apt-get update && sudo apt-get install -y libglfw3-dev libwayland-dev libxkbcommon-x11-dev libgl1-mesa-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
+          sudo apt-get update && sudo apt-get install -y libglfw3 libglfw3-dev libxkbcommon-x11-dev libgl1-mesa-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
       - name: setup additional dependencies for examples (aarch64)
         if: matrix.arch == 'aarch64'
         run: |
           sudo dpkg --add-architecture arm64
-          sudo apt-get update && sudo apt-get install -y libglfw3-dev:arm64 libwayland-dev:arm64 libxkbcommon-x11-dev:arm64 libgl1-mesa-dev:arm64 libxcursor-dev:arm64 libxi-dev:arm64 libxinerama-dev:arm64 libxrandr-dev:arm64
+          sudo apt-get update && sudo apt-get install -y libglfw3 libglfw3-dev:arm64 libxkbcommon-x11-dev:arm64 libgl1-mesa-dev:arm64 libxcursor-dev:arm64 libxi-dev:arm64 libxinerama-dev:arm64 libxrandr-dev:arm64
           echo "PKG_CONFIG_PATH=/usr/lib/aarch64-linux-gnu/pkgconfig" >> $GITHUB_ENV
           
       - name: run tests

From 5550cc7ada1428d5e5c7ceadb161b59c74426b7e Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Tue, 16 Sep 2025 03:54:05 +0900
Subject: [PATCH 10/33] fill missing `:arm64`

---
 .github/workflows/CI.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 3e9396f..a1b284c 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -98,7 +98,7 @@ jobs:
         if: matrix.arch == 'aarch64'
         run: |
           sudo dpkg --add-architecture arm64
-          sudo apt-get update && sudo apt-get install -y libglfw3 libglfw3-dev:arm64 libxkbcommon-x11-dev:arm64 libgl1-mesa-dev:arm64 libxcursor-dev:arm64 libxi-dev:arm64 libxinerama-dev:arm64 libxrandr-dev:arm64
+          sudo apt-get update && sudo apt-get install -y libglfw3:arm64 libglfw3-dev:arm64 libxkbcommon-x11-dev:arm64 libgl1-mesa-dev:arm64 libxcursor-dev:arm64 libxi-dev:arm64 libxinerama-dev:arm64 libxrandr-dev:arm64
           echo "PKG_CONFIG_PATH=/usr/lib/aarch64-linux-gnu/pkgconfig" >> $GITHUB_ENV
           
       - name: run tests

From 2bf840e09da184869e0972877a9854b72fb3951b Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Tue, 16 Sep 2025 04:00:24 +0900
Subject: [PATCH 11/33] try source build glfw with conditional dependency libs

---
 .github/workflows/CI.yml | 36 +++++++++++++++++++++---------------
 1 file changed, 21 insertions(+), 15 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index a1b284c..1dfd32f 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -84,22 +84,28 @@ jobs:
           echo "MUJOCO_DIR=$HOME/.mujoco/mujoco-3.3.2" >> $GITHUB_ENV
           echo "LD_LIBRARY_PATH=$HOME/.mujoco/mujoco-3.3.2/lib:$LD_LIBRARY_PATH" >> $GITHUB_ENV
       
-#      - name: setup additional dependencies for examples
-#        run: |
-#          sudo apt update && sudo apt install -y cmake build-essential libwayland-dev libxkbcommon-x11-dev libgl1-mesa-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
-#          git clone https://github.com/glfw/glfw.git
-#          mkdir -p glfw/build && cd glfw/build
-#          cmake .. && make && sudo make install
-      - name: setup additional dependencies for examples (x86_64)
-        if: matrix.arch == 'x86_64'
-        run: |
-          sudo apt-get update && sudo apt-get install -y libglfw3 libglfw3-dev libxkbcommon-x11-dev libgl1-mesa-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
-      - name: setup additional dependencies for examples (aarch64)
-        if: matrix.arch == 'aarch64'
+      - name: setup additional dependencies for examples
         run: |
-          sudo dpkg --add-architecture arm64
-          sudo apt-get update && sudo apt-get install -y libglfw3:arm64 libglfw3-dev:arm64 libxkbcommon-x11-dev:arm64 libgl1-mesa-dev:arm64 libxcursor-dev:arm64 libxi-dev:arm64 libxinerama-dev:arm64 libxrandr-dev:arm64
-          echo "PKG_CONFIG_PATH=/usr/lib/aarch64-linux-gnu/pkgconfig" >> $GITHUB_ENV
+          if [ "${{ matrix.arch }}" = 'x86_64' ]; then
+            sudo apt update && sudo apt install -y cmake build-essential libwayland-dev libxkbcommon-x11-dev libgl1-mesa-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
+          elif [ "${{ matrix.arch }}" = 'aarch64' ]; then
+            sudo dpkg --add-architecture arm64
+            echo "PKG_CONFIG_PATH=/usr/lib/aarch64-linux-gnu/pkgconfig" >> $GITHUB_ENV
+            sudo apt update && sudo apt install -y cmake:arm64 build-essential:arm64 libwayland-dev:arm64 libxkbcommon-x11-dev:arm64 libgl1-mesa-dev:arm64 libxcursor-dev:arm64 libxi-dev:arm64 libxinerama-dev:arm64 libxrandr-dev:arm64
+          fi
+          git clone https://github.com/glfw/glfw.git
+          mkdir -p glfw/build && cd glfw/build
+          cmake .. && make && sudo make install
+#      - name: setup additional dependencies for examples (x86_64)
+#        if: matrix.arch == 'x86_64'
+#        run: |
+#          sudo apt-get update && sudo apt-get install -y libglfw3 libglfw3-dev libxkbcommon-x11-dev libgl1-mesa-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
+#      - name: setup additional dependencies for examples (aarch64)
+#        if: matrix.arch == 'aarch64'
+#        run: |
+#          sudo dpkg --add-architecture arm64
+#          sudo apt-get update && sudo apt-get install -y libglfw3:arm64 libglfw3-dev:arm64 libxkbcommon-x11-dev:arm64 libgl1-mesa-dev:arm64 libxcursor-dev:arm64 libxi-dev:arm64 libxinerama-dev:arm64 libxrandr-dev:arm64
+#          echo "PKG_CONFIG_PATH=/usr/lib/aarch64-linux-gnu/pkgconfig" >> $GITHUB_ENV
           
       - name: run tests
         env:

From ab9997830cf12159cac52f95fe3702c518b305c0 Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Tue, 16 Sep 2025 04:05:48 +0900
Subject: [PATCH 12/33] try conditional cmake(\:arm64)?

---
 .github/workflows/CI.yml | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 1dfd32f..3c261fc 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -86,16 +86,17 @@ jobs:
       
       - name: setup additional dependencies for examples
         run: |
+          git clone https://github.com/glfw/glfw.git
+          mkdir -p glfw/build && cd glfw/build
           if [ "${{ matrix.arch }}" = 'x86_64' ]; then
             sudo apt update && sudo apt install -y cmake build-essential libwayland-dev libxkbcommon-x11-dev libgl1-mesa-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
+            cmake .. && make && sudo make install
           elif [ "${{ matrix.arch }}" = 'aarch64' ]; then
             sudo dpkg --add-architecture arm64
             echo "PKG_CONFIG_PATH=/usr/lib/aarch64-linux-gnu/pkgconfig" >> $GITHUB_ENV
             sudo apt update && sudo apt install -y cmake:arm64 build-essential:arm64 libwayland-dev:arm64 libxkbcommon-x11-dev:arm64 libgl1-mesa-dev:arm64 libxcursor-dev:arm64 libxi-dev:arm64 libxinerama-dev:arm64 libxrandr-dev:arm64
+            cmake:arm64 .. && make && sudo make install
           fi
-          git clone https://github.com/glfw/glfw.git
-          mkdir -p glfw/build && cd glfw/build
-          cmake .. && make && sudo make install
 #      - name: setup additional dependencies for examples (x86_64)
 #        if: matrix.arch == 'x86_64'
 #        run: |

From a14e692ed5ae21fbe66b61de2b840902276b0ff5 Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Tue, 16 Sep 2025 04:14:12 +0900
Subject: [PATCH 13/33] use
 `-DCMAKE_C(XX)?_COMPILER=aarch64-linux-gnu-g(cc|++)`

---
 .github/workflows/CI.yml | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 3c261fc..ca095be 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -90,12 +90,14 @@ jobs:
           mkdir -p glfw/build && cd glfw/build
           if [ "${{ matrix.arch }}" = 'x86_64' ]; then
             sudo apt update && sudo apt install -y cmake build-essential libwayland-dev libxkbcommon-x11-dev libgl1-mesa-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
-            cmake .. && make && sudo make install
+            cmake ..
+            make && sudo make install
           elif [ "${{ matrix.arch }}" = 'aarch64' ]; then
             sudo dpkg --add-architecture arm64
             echo "PKG_CONFIG_PATH=/usr/lib/aarch64-linux-gnu/pkgconfig" >> $GITHUB_ENV
             sudo apt update && sudo apt install -y cmake:arm64 build-essential:arm64 libwayland-dev:arm64 libxkbcommon-x11-dev:arm64 libgl1-mesa-dev:arm64 libxcursor-dev:arm64 libxi-dev:arm64 libxinerama-dev:arm64 libxrandr-dev:arm64
-            cmake:arm64 .. && make && sudo make install
+            cmake .. -DCMAKE_C_COMPILER=aarch64-linux-gnu-gcc -DCMAKE_CXX_COMPILER=aarch64-linux-gnu-g++
+            make && sudo make install
           fi
 #      - name: setup additional dependencies for examples (x86_64)
 #        if: matrix.arch == 'x86_64'

From 2594fe0baec24a1199d9ebc070a0566b1985dc27 Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Tue, 16 Sep 2025 04:21:27 +0900
Subject: [PATCH 14/33] try wayland-protocols

---
 .github/workflows/CI.yml | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index ca095be..3e213c7 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -89,13 +89,16 @@ jobs:
           git clone https://github.com/glfw/glfw.git
           mkdir -p glfw/build && cd glfw/build
           if [ "${{ matrix.arch }}" = 'x86_64' ]; then
-            sudo apt update && sudo apt install -y cmake build-essential libwayland-dev libxkbcommon-x11-dev libgl1-mesa-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
+            sudo apt update
+            sudo apt install -y cmake build-essential libwayland-dev libxkbcommon-x11-dev libgl1-mesa-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
             cmake ..
             make && sudo make install
           elif [ "${{ matrix.arch }}" = 'aarch64' ]; then
             sudo dpkg --add-architecture arm64
             echo "PKG_CONFIG_PATH=/usr/lib/aarch64-linux-gnu/pkgconfig" >> $GITHUB_ENV
-            sudo apt update && sudo apt install -y cmake:arm64 build-essential:arm64 libwayland-dev:arm64 libxkbcommon-x11-dev:arm64 libgl1-mesa-dev:arm64 libxcursor-dev:arm64 libxi-dev:arm64 libxinerama-dev:arm64 libxrandr-dev:arm64
+            sudo apt update
+            sudo apt install -y cmake:arm64 build-essential:arm64 libwayland-dev:arm64 libxkbcommon-x11-dev:arm64 libgl1-mesa-dev:arm64 libxcursor-dev:arm64 libxi-dev:arm64 libxinerama-dev:arm64 libxrandr-dev:arm64
+            sudo apt install -y wayland-protocols
             cmake .. -DCMAKE_C_COMPILER=aarch64-linux-gnu-gcc -DCMAKE_CXX_COMPILER=aarch64-linux-gnu-g++
             make && sudo make install
           fi

From 518ec88acbcfacc3cb4d6021451a62ffa269ce40 Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Tue, 16 Sep 2025 04:28:59 +0900
Subject: [PATCH 15/33] set -x

---
 .github/workflows/CI.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 3e213c7..ea7ec11 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -94,6 +94,7 @@ jobs:
             cmake ..
             make && sudo make install
           elif [ "${{ matrix.arch }}" = 'aarch64' ]; then
+            set -x
             sudo dpkg --add-architecture arm64
             echo "PKG_CONFIG_PATH=/usr/lib/aarch64-linux-gnu/pkgconfig" >> $GITHUB_ENV
             sudo apt update
@@ -101,6 +102,7 @@ jobs:
             sudo apt install -y wayland-protocols
             cmake .. -DCMAKE_C_COMPILER=aarch64-linux-gnu-gcc -DCMAKE_CXX_COMPILER=aarch64-linux-gnu-g++
             make && sudo make install
+            set +x
           fi
 #      - name: setup additional dependencies for examples (x86_64)
 #        if: matrix.arch == 'x86_64'

From 8256b1504ef5753e49250aa53b5c08c07ff322bc Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Tue, 16 Sep 2025 04:39:19 +0900
Subject: [PATCH 16/33] try restricting security repository to amd64

---
 .github/workflows/CI.yml | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index ea7ec11..947b5c0 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -94,15 +94,14 @@ jobs:
             cmake ..
             make && sudo make install
           elif [ "${{ matrix.arch }}" = 'aarch64' ]; then
-            set -x
-            sudo dpkg --add-architecture arm64
             echo "PKG_CONFIG_PATH=/usr/lib/aarch64-linux-gnu/pkgconfig" >> $GITHUB_ENV
+            sudo dpkg --add-architecture arm64
+            sudo sed -i -e 's/deb http:\/\/security.ubuntu.com/deb [arch=amd64] http:\/\/security.ubuntu.com/g' /etc/apt/sources.list   ### restrict security repository to amd64, as it doesn't support arm64 ###
             sudo apt update
             sudo apt install -y cmake:arm64 build-essential:arm64 libwayland-dev:arm64 libxkbcommon-x11-dev:arm64 libgl1-mesa-dev:arm64 libxcursor-dev:arm64 libxi-dev:arm64 libxinerama-dev:arm64 libxrandr-dev:arm64
             sudo apt install -y wayland-protocols
             cmake .. -DCMAKE_C_COMPILER=aarch64-linux-gnu-gcc -DCMAKE_CXX_COMPILER=aarch64-linux-gnu-g++
             make && sudo make install
-            set +x
           fi
 #      - name: setup additional dependencies for examples (x86_64)
 #        if: matrix.arch == 'x86_64'

From cac5bf6d00811a2d410d6ae79288c69784143cef Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Tue, 16 Sep 2025 04:43:31 +0900
Subject: [PATCH 17/33] ignore apt update error

---
 .github/workflows/CI.yml | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 947b5c0..73f9fa8 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -96,8 +96,7 @@ jobs:
           elif [ "${{ matrix.arch }}" = 'aarch64' ]; then
             echo "PKG_CONFIG_PATH=/usr/lib/aarch64-linux-gnu/pkgconfig" >> $GITHUB_ENV
             sudo dpkg --add-architecture arm64
-            sudo sed -i -e 's/deb http:\/\/security.ubuntu.com/deb [arch=amd64] http:\/\/security.ubuntu.com/g' /etc/apt/sources.list   ### restrict security repository to amd64, as it doesn't support arm64 ###
-            sudo apt update
+            sudo apt update || :   ### fails to fetch security repositories that don't support arm64, but it doesn't matter ###
             sudo apt install -y cmake:arm64 build-essential:arm64 libwayland-dev:arm64 libxkbcommon-x11-dev:arm64 libgl1-mesa-dev:arm64 libxcursor-dev:arm64 libxi-dev:arm64 libxinerama-dev:arm64 libxrandr-dev:arm64
             sudo apt install -y wayland-protocols
             cmake .. -DCMAKE_C_COMPILER=aarch64-linux-gnu-gcc -DCMAKE_CXX_COMPILER=aarch64-linux-gnu-g++

From 93ffca5d3618bc0a203c9a171a3aff062380ce0b Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Tue, 16 Sep 2025 04:58:18 +0900
Subject: [PATCH 18/33] add ports to /etc/apt/sources.list.d/ports.list

---
 .github/workflows/CI.yml | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 73f9fa8..eb99969 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -96,6 +96,10 @@ jobs:
           elif [ "${{ matrix.arch }}" = 'aarch64' ]; then
             echo "PKG_CONFIG_PATH=/usr/lib/aarch64-linux-gnu/pkgconfig" >> $GITHUB_ENV
             sudo dpkg --add-architecture arm64
+            echo "deb [arch=arm64] http://ports.ubuntu.com/ubuntu-ports noble main restricted universe multiverse" | sudo tee /etc/apt/sources.list.d/ports.list
+            echo "deb [arch=arm64] http://ports.ubuntu.com/ubuntu-ports noble-updates main restricted universe multiverse" | sudo tee -a /etc/apt/sources.list.d/ports.list
+            echo "deb [arch=arm64] http://ports.ubuntu.com/ubuntu-ports noble-security main restricted universe multiverse" | sudo tee -a /etc/apt/sources.list.d/ports.list
+            echo "deb [arch=arm64] http://ports.ubuntu.com/ubuntu-ports noble-backports main restricted universe multiverse" | sudo tee -a /etc/apt/sources.list.d/ports.list
             sudo apt update || :   ### fails to fetch security repositories that don't support arm64, but it doesn't matter ###
             sudo apt install -y cmake:arm64 build-essential:arm64 libwayland-dev:arm64 libxkbcommon-x11-dev:arm64 libgl1-mesa-dev:arm64 libxcursor-dev:arm64 libxi-dev:arm64 libxinerama-dev:arm64 libxrandr-dev:arm64
             sudo apt install -y wayland-protocols

From 3ee3f326fdbdcf14106d6b8da823aab1f3efd8de Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Tue, 16 Sep 2025 05:03:02 +0900
Subject: [PATCH 19/33] `:arm64` only for `*-dev`

---
 .github/workflows/CI.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index eb99969..300c972 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -101,7 +101,7 @@ jobs:
             echo "deb [arch=arm64] http://ports.ubuntu.com/ubuntu-ports noble-security main restricted universe multiverse" | sudo tee -a /etc/apt/sources.list.d/ports.list
             echo "deb [arch=arm64] http://ports.ubuntu.com/ubuntu-ports noble-backports main restricted universe multiverse" | sudo tee -a /etc/apt/sources.list.d/ports.list
             sudo apt update || :   ### fails to fetch security repositories that don't support arm64, but it doesn't matter ###
-            sudo apt install -y cmake:arm64 build-essential:arm64 libwayland-dev:arm64 libxkbcommon-x11-dev:arm64 libgl1-mesa-dev:arm64 libxcursor-dev:arm64 libxi-dev:arm64 libxinerama-dev:arm64 libxrandr-dev:arm64
+            sudo apt install -y cmake build-essential libwayland-dev:arm64 libxkbcommon-x11-dev:arm64 libgl1-mesa-dev:arm64 libxcursor-dev:arm64 libxi-dev:arm64 libxinerama-dev:arm64 libxrandr-dev:arm64
             sudo apt install -y wayland-protocols
             cmake .. -DCMAKE_C_COMPILER=aarch64-linux-gnu-gcc -DCMAKE_CXX_COMPILER=aarch64-linux-gnu-g++
             make && sudo make install

From db319f0587573c3f8f01599340af25b6b937f31d Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Tue, 16 Sep 2025 05:10:28 +0900
Subject: [PATCH 20/33] run `echo
 "PKG_CONFIG_PATH=/usr/lib/aarch64-linux-gnu/pkgconfig" >> $GITHUB_ENV` in
 `setup` step

---
 .github/workflows/CI.yml | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 300c972..855516b 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -75,7 +75,10 @@ jobs:
           rustup default ${{ matrix.toolchain }}
           rustup target add ${{ matrix.arch }}-unknown-linux-gnu
           rustup component add rustfmt   ### required for the build script to work ###
-          [ "${{ matrix.arch }}" = 'aarch64' ] && sudo apt update && sudo apt install -y g++-aarch64-linux-gnu || :
+          if [ "${{ matrix.arch }}" = 'aarch64' ]; then
+            sudo apt update && sudo apt install -y g++-aarch64-linux-gnu
+            echo "PKG_CONFIG_PATH=/usr/lib/aarch64-linux-gnu/pkgconfig" >> $GITHUB_ENV
+          fi
           
           mkdir -p $HOME/.mujoco
           cd $HOME/.mujoco
@@ -94,13 +97,12 @@ jobs:
             cmake ..
             make && sudo make install
           elif [ "${{ matrix.arch }}" = 'aarch64' ]; then
-            echo "PKG_CONFIG_PATH=/usr/lib/aarch64-linux-gnu/pkgconfig" >> $GITHUB_ENV
             sudo dpkg --add-architecture arm64
             echo "deb [arch=arm64] http://ports.ubuntu.com/ubuntu-ports noble main restricted universe multiverse" | sudo tee /etc/apt/sources.list.d/ports.list
             echo "deb [arch=arm64] http://ports.ubuntu.com/ubuntu-ports noble-updates main restricted universe multiverse" | sudo tee -a /etc/apt/sources.list.d/ports.list
             echo "deb [arch=arm64] http://ports.ubuntu.com/ubuntu-ports noble-security main restricted universe multiverse" | sudo tee -a /etc/apt/sources.list.d/ports.list
             echo "deb [arch=arm64] http://ports.ubuntu.com/ubuntu-ports noble-backports main restricted universe multiverse" | sudo tee -a /etc/apt/sources.list.d/ports.list
-            sudo apt update || :   ### fails to fetch security repositories that don't support arm64, but it doesn't matter ###
+            sudo apt update || :   ### fails to some fetch security repositories that don't support arm64, but it doesn't matter ###
             sudo apt install -y cmake build-essential libwayland-dev:arm64 libxkbcommon-x11-dev:arm64 libgl1-mesa-dev:arm64 libxcursor-dev:arm64 libxi-dev:arm64 libxinerama-dev:arm64 libxrandr-dev:arm64
             sudo apt install -y wayland-protocols
             cmake .. -DCMAKE_C_COMPILER=aarch64-linux-gnu-gcc -DCMAKE_CXX_COMPILER=aarch64-linux-gnu-g++

From 5e79b8206c6886c2f241de60ca6da7ee4e9cb61a Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Tue, 16 Sep 2025 05:18:17 +0900
Subject: [PATCH 21/33] add `-DCMAKE_EXE_LINKER_FLAGS=-lm` to cmake flags

---
 .github/workflows/CI.yml | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 855516b..16b7c0b 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -75,10 +75,6 @@ jobs:
           rustup default ${{ matrix.toolchain }}
           rustup target add ${{ matrix.arch }}-unknown-linux-gnu
           rustup component add rustfmt   ### required for the build script to work ###
-          if [ "${{ matrix.arch }}" = 'aarch64' ]; then
-            sudo apt update && sudo apt install -y g++-aarch64-linux-gnu
-            echo "PKG_CONFIG_PATH=/usr/lib/aarch64-linux-gnu/pkgconfig" >> $GITHUB_ENV
-          fi
           
           mkdir -p $HOME/.mujoco
           cd $HOME/.mujoco
@@ -86,6 +82,11 @@ jobs:
           tar -xzf mujoco-3.3.2-linux-${{ matrix.arch }}.tar.gz
           echo "MUJOCO_DIR=$HOME/.mujoco/mujoco-3.3.2" >> $GITHUB_ENV
           echo "LD_LIBRARY_PATH=$HOME/.mujoco/mujoco-3.3.2/lib:$LD_LIBRARY_PATH" >> $GITHUB_ENV
+          
+          if [ "${{ matrix.arch }}" = 'aarch64' ]; then
+            sudo apt update && sudo apt install -y gcc-aarch64-linux-gnu g++-aarch64-linux-gnu
+            echo "PKG_CONFIG_PATH=/usr/lib/aarch64-linux-gnu/pkgconfig" >> $GITHUB_ENV
+          fi
       
       - name: setup additional dependencies for examples
         run: |
@@ -105,7 +106,7 @@ jobs:
             sudo apt update || :   ### fails to some fetch security repositories that don't support arm64, but it doesn't matter ###
             sudo apt install -y cmake build-essential libwayland-dev:arm64 libxkbcommon-x11-dev:arm64 libgl1-mesa-dev:arm64 libxcursor-dev:arm64 libxi-dev:arm64 libxinerama-dev:arm64 libxrandr-dev:arm64
             sudo apt install -y wayland-protocols
-            cmake .. -DCMAKE_C_COMPILER=aarch64-linux-gnu-gcc -DCMAKE_CXX_COMPILER=aarch64-linux-gnu-g++
+            cmake .. -DCMAKE_C_COMPILER=aarch64-linux-gnu-gcc -DCMAKE_EXE_LINKER_FLAGS=-lm
             make && sudo make install
           fi
 #      - name: setup additional dependencies for examples (x86_64)

From 7cdd26a33e025528cc62812856f3bd9adf14ec1a Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Tue, 16 Sep 2025 05:30:54 +0900
Subject: [PATCH 22/33] use `-DLINK_FLAGS="-lm"`

---
 .github/workflows/CI.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 16b7c0b..ed2d89d 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -106,7 +106,7 @@ jobs:
             sudo apt update || :   ### fails to some fetch security repositories that don't support arm64, but it doesn't matter ###
             sudo apt install -y cmake build-essential libwayland-dev:arm64 libxkbcommon-x11-dev:arm64 libgl1-mesa-dev:arm64 libxcursor-dev:arm64 libxi-dev:arm64 libxinerama-dev:arm64 libxrandr-dev:arm64
             sudo apt install -y wayland-protocols
-            cmake .. -DCMAKE_C_COMPILER=aarch64-linux-gnu-gcc -DCMAKE_EXE_LINKER_FLAGS=-lm
+            cmake .. -DCMAKE_C_COMPILER=aarch64-linux-gnu-gcc -DLINK_FLAGS="-lm"
             make && sudo make install
           fi
 #      - name: setup additional dependencies for examples (x86_64)

From 0362e3ff8b431839d23ca3710c5d990d391c788c Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Tue, 16 Sep 2025 05:40:00 +0900
Subject: [PATCH 23/33] `="-lm"` instead of `=-lm` for
 `-DCMAKE_EXE_LINKER_FLAGS`

---
 .github/workflows/CI.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index ed2d89d..23d1101 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -106,7 +106,7 @@ jobs:
             sudo apt update || :   ### fails to some fetch security repositories that don't support arm64, but it doesn't matter ###
             sudo apt install -y cmake build-essential libwayland-dev:arm64 libxkbcommon-x11-dev:arm64 libgl1-mesa-dev:arm64 libxcursor-dev:arm64 libxi-dev:arm64 libxinerama-dev:arm64 libxrandr-dev:arm64
             sudo apt install -y wayland-protocols
-            cmake .. -DCMAKE_C_COMPILER=aarch64-linux-gnu-gcc -DLINK_FLAGS="-lm"
+            cmake .. -DCMAKE_C_COMPILER=aarch64-linux-gnu-gcc -DCMAKE_EXE_LINKER_FLAGS="-lm"
             make && sudo make install
           fi
 #      - name: setup additional dependencies for examples (x86_64)

From 2758fafe9ec4ad8792c1a9b542f08d9fb2b61c75 Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Tue, 16 Sep 2025 05:43:58 +0900
Subject: [PATCH 24/33] specify ` -DGLFW_BUILD_EXAMPLES=OFF
 -DGLFW_BUILD_TESTS=OFF -DGLFW_BUILD_DOCS=OFF` for cmake

---
 .github/workflows/CI.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 23d1101..e91500f 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -95,7 +95,7 @@ jobs:
           if [ "${{ matrix.arch }}" = 'x86_64' ]; then
             sudo apt update
             sudo apt install -y cmake build-essential libwayland-dev libxkbcommon-x11-dev libgl1-mesa-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
-            cmake ..
+            cmake .. -DGLFW_BUILD_EXAMPLES=OFF -DGLFW_BUILD_TESTS=OFF -DGLFW_BUILD_DOCS=OFF
             make && sudo make install
           elif [ "${{ matrix.arch }}" = 'aarch64' ]; then
             sudo dpkg --add-architecture arm64
@@ -106,7 +106,7 @@ jobs:
             sudo apt update || :   ### fails to some fetch security repositories that don't support arm64, but it doesn't matter ###
             sudo apt install -y cmake build-essential libwayland-dev:arm64 libxkbcommon-x11-dev:arm64 libgl1-mesa-dev:arm64 libxcursor-dev:arm64 libxi-dev:arm64 libxinerama-dev:arm64 libxrandr-dev:arm64
             sudo apt install -y wayland-protocols
-            cmake .. -DCMAKE_C_COMPILER=aarch64-linux-gnu-gcc -DCMAKE_EXE_LINKER_FLAGS="-lm"
+            cmake .. -DCMAKE_C_COMPILER=aarch64-linux-gnu-gcc -DGLFW_BUILD_EXAMPLES=OFF -DGLFW_BUILD_TESTS=OFF -DGLFW_BUILD_DOCS=OFF
             make && sudo make install
           fi
 #      - name: setup additional dependencies for examples (x86_64)

From 587d840c9f9f6f865778b4e6b903387e1c83511a Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Tue, 16 Sep 2025 05:56:00 +0900
Subject: [PATCH 25/33] retain original $PKG_CONFIG_PATH

---
 .github/workflows/CI.yml | 14 ++------------
 1 file changed, 2 insertions(+), 12 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index e91500f..1abbb51 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -85,7 +85,7 @@ jobs:
           
           if [ "${{ matrix.arch }}" = 'aarch64' ]; then
             sudo apt update && sudo apt install -y gcc-aarch64-linux-gnu g++-aarch64-linux-gnu
-            echo "PKG_CONFIG_PATH=/usr/lib/aarch64-linux-gnu/pkgconfig" >> $GITHUB_ENV
+            echo "PKG_CONFIG_PATH=/usr/lib/aarch64-linux-gnu/pkgconfig:$PKG_CONFIG_PATH" >> $GITHUB_ENV
           fi
       
       - name: setup additional dependencies for examples
@@ -103,22 +103,12 @@ jobs:
             echo "deb [arch=arm64] http://ports.ubuntu.com/ubuntu-ports noble-updates main restricted universe multiverse" | sudo tee -a /etc/apt/sources.list.d/ports.list
             echo "deb [arch=arm64] http://ports.ubuntu.com/ubuntu-ports noble-security main restricted universe multiverse" | sudo tee -a /etc/apt/sources.list.d/ports.list
             echo "deb [arch=arm64] http://ports.ubuntu.com/ubuntu-ports noble-backports main restricted universe multiverse" | sudo tee -a /etc/apt/sources.list.d/ports.list
-            sudo apt update || :   ### fails to some fetch security repositories that don't support arm64, but it doesn't matter ###
+            sudo apt update || :   ### fails to fetch some security repositories that don't support arm64, but it doesn't matter ###
             sudo apt install -y cmake build-essential libwayland-dev:arm64 libxkbcommon-x11-dev:arm64 libgl1-mesa-dev:arm64 libxcursor-dev:arm64 libxi-dev:arm64 libxinerama-dev:arm64 libxrandr-dev:arm64
             sudo apt install -y wayland-protocols
             cmake .. -DCMAKE_C_COMPILER=aarch64-linux-gnu-gcc -DGLFW_BUILD_EXAMPLES=OFF -DGLFW_BUILD_TESTS=OFF -DGLFW_BUILD_DOCS=OFF
             make && sudo make install
           fi
-#      - name: setup additional dependencies for examples (x86_64)
-#        if: matrix.arch == 'x86_64'
-#        run: |
-#          sudo apt-get update && sudo apt-get install -y libglfw3 libglfw3-dev libxkbcommon-x11-dev libgl1-mesa-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
-#      - name: setup additional dependencies for examples (aarch64)
-#        if: matrix.arch == 'aarch64'
-#        run: |
-#          sudo dpkg --add-architecture arm64
-#          sudo apt-get update && sudo apt-get install -y libglfw3:arm64 libglfw3-dev:arm64 libxkbcommon-x11-dev:arm64 libgl1-mesa-dev:arm64 libxcursor-dev:arm64 libxi-dev:arm64 libxinerama-dev:arm64 libxrandr-dev:arm64
-#          echo "PKG_CONFIG_PATH=/usr/lib/aarch64-linux-gnu/pkgconfig" >> $GITHUB_ENV
           
       - name: run tests
         env:

From d8e6ce0e68724795fb7f0961697dd5f299d2efe7 Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Tue, 16 Sep 2025 06:03:56 +0900
Subject: [PATCH 26/33] improve PKG_CONFIG_PATH

---
 .github/workflows/CI.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 1abbb51..6460dfd 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -85,7 +85,7 @@ jobs:
           
           if [ "${{ matrix.arch }}" = 'aarch64' ]; then
             sudo apt update && sudo apt install -y gcc-aarch64-linux-gnu g++-aarch64-linux-gnu
-            echo "PKG_CONFIG_PATH=/usr/lib/aarch64-linux-gnu/pkgconfig:$PKG_CONFIG_PATH" >> $GITHUB_ENV
+            echo "PKG_CONFIG_PATH=/usr/lib/aarch64-linux-gnu/pkgconfig:/usr/local/lib/aarch64-linux-gnu/pkgconfig:/usr/local/share/pkgconfig:$PKG_CONFIG_PATH" >> $GITHUB_ENV
           fi
       
       - name: setup additional dependencies for examples

From 81affe05dca11adb76bc8d4dbc2997b64184f50c Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Tue, 16 Sep 2025 06:09:32 +0900
Subject: [PATCH 27/33] set PKG_CONFIG=aarch64-linux-gnu-pkg-config

---
 .github/workflows/CI.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 6460dfd..994c175 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -85,6 +85,7 @@ jobs:
           
           if [ "${{ matrix.arch }}" = 'aarch64' ]; then
             sudo apt update && sudo apt install -y gcc-aarch64-linux-gnu g++-aarch64-linux-gnu
+            echo "PKG_CONFIG=aarch64-linux-gnu-pkg-config" >> $GITHUB_ENV
             echo "PKG_CONFIG_PATH=/usr/lib/aarch64-linux-gnu/pkgconfig:/usr/local/lib/aarch64-linux-gnu/pkgconfig:/usr/local/share/pkgconfig:$PKG_CONFIG_PATH" >> $GITHUB_ENV
           fi
       

From b273815ccdd4473349551770dba04bc8f7d0e54e Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Tue, 16 Sep 2025 06:15:07 +0900
Subject: [PATCH 28/33] apt install pkg-config when aarch64

---
 .github/workflows/CI.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 994c175..ddd380e 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -84,7 +84,7 @@ jobs:
           echo "LD_LIBRARY_PATH=$HOME/.mujoco/mujoco-3.3.2/lib:$LD_LIBRARY_PATH" >> $GITHUB_ENV
           
           if [ "${{ matrix.arch }}" = 'aarch64' ]; then
-            sudo apt update && sudo apt install -y gcc-aarch64-linux-gnu g++-aarch64-linux-gnu
+            sudo apt update && sudo apt install -y gcc-aarch64-linux-gnu g++-aarch64-linux-gnu pkg-config
             echo "PKG_CONFIG=aarch64-linux-gnu-pkg-config" >> $GITHUB_ENV
             echo "PKG_CONFIG_PATH=/usr/lib/aarch64-linux-gnu/pkgconfig:/usr/local/lib/aarch64-linux-gnu/pkgconfig:/usr/local/share/pkgconfig:$PKG_CONFIG_PATH" >> $GITHUB_ENV
           fi

From cf5b2d299c8c2b6991fbfac683f26587503ef90c Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Tue, 16 Sep 2025 06:30:00 +0900
Subject: [PATCH 29/33] split runner

---
 .github/workflows/CI.yml | 158 ++++++++++++++++++++++++++++++---------
 1 file changed, 122 insertions(+), 36 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index ddd380e..4ff9dc8 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -57,25 +57,23 @@ jobs:
             echo "[DEBUG] bindgen.rs content:" && cat ./src/bindgen.rs
             exit 1
           fi
-  
-  test:
-    runs-on: ubuntu-latest
-    
-    strategy:
-      matrix:
-        toolchain: ['stable', 'nightly']
-        arch: ['x86_64', 'aarch64']
 
+  test-x86_64:
+    if: matrix.arch == 'x86_64'
+    
+    runs-on: ubuntu-24.04
+    
     steps:
       - uses: actions/checkout@v5
-
-      - name: setup
+      
+      - name: setup Rust
         run: |
           rustup update
           rustup default ${{ matrix.toolchain }}
-          rustup target add ${{ matrix.arch }}-unknown-linux-gnu
           rustup component add rustfmt   ### required for the build script to work ###
           
+      - name: setup MuJoCo
+        run: |
           mkdir -p $HOME/.mujoco
           cd $HOME/.mujoco
           wget https://github.com/google-deepmind/mujoco/releases/download/3.3.2/mujoco-3.3.2-linux-${{ matrix.arch }}.tar.gz
@@ -83,40 +81,128 @@ jobs:
           echo "MUJOCO_DIR=$HOME/.mujoco/mujoco-3.3.2" >> $GITHUB_ENV
           echo "LD_LIBRARY_PATH=$HOME/.mujoco/mujoco-3.3.2/lib:$LD_LIBRARY_PATH" >> $GITHUB_ENV
           
-          if [ "${{ matrix.arch }}" = 'aarch64' ]; then
-            sudo apt update && sudo apt install -y gcc-aarch64-linux-gnu g++-aarch64-linux-gnu pkg-config
-            echo "PKG_CONFIG=aarch64-linux-gnu-pkg-config" >> $GITHUB_ENV
-            echo "PKG_CONFIG_PATH=/usr/lib/aarch64-linux-gnu/pkgconfig:/usr/local/lib/aarch64-linux-gnu/pkgconfig:/usr/local/share/pkgconfig:$PKG_CONFIG_PATH" >> $GITHUB_ENV
-          fi
-      
       - name: setup additional dependencies for examples
         run: |
           git clone https://github.com/glfw/glfw.git
           mkdir -p glfw/build && cd glfw/build
-          if [ "${{ matrix.arch }}" = 'x86_64' ]; then
-            sudo apt update
-            sudo apt install -y cmake build-essential libwayland-dev libxkbcommon-x11-dev libgl1-mesa-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
-            cmake .. -DGLFW_BUILD_EXAMPLES=OFF -DGLFW_BUILD_TESTS=OFF -DGLFW_BUILD_DOCS=OFF
-            make && sudo make install
-          elif [ "${{ matrix.arch }}" = 'aarch64' ]; then
-            sudo dpkg --add-architecture arm64
-            echo "deb [arch=arm64] http://ports.ubuntu.com/ubuntu-ports noble main restricted universe multiverse" | sudo tee /etc/apt/sources.list.d/ports.list
-            echo "deb [arch=arm64] http://ports.ubuntu.com/ubuntu-ports noble-updates main restricted universe multiverse" | sudo tee -a /etc/apt/sources.list.d/ports.list
-            echo "deb [arch=arm64] http://ports.ubuntu.com/ubuntu-ports noble-security main restricted universe multiverse" | sudo tee -a /etc/apt/sources.list.d/ports.list
-            echo "deb [arch=arm64] http://ports.ubuntu.com/ubuntu-ports noble-backports main restricted universe multiverse" | sudo tee -a /etc/apt/sources.list.d/ports.list
-            sudo apt update || :   ### fails to fetch some security repositories that don't support arm64, but it doesn't matter ###
-            sudo apt install -y cmake build-essential libwayland-dev:arm64 libxkbcommon-x11-dev:arm64 libgl1-mesa-dev:arm64 libxcursor-dev:arm64 libxi-dev:arm64 libxinerama-dev:arm64 libxrandr-dev:arm64
-            sudo apt install -y wayland-protocols
-            cmake .. -DCMAKE_C_COMPILER=aarch64-linux-gnu-gcc -DGLFW_BUILD_EXAMPLES=OFF -DGLFW_BUILD_TESTS=OFF -DGLFW_BUILD_DOCS=OFF
-            make && sudo make install
-          fi
+          sudo apt update && sudo apt install -y cmake build-essential libwayland-dev libxkbcommon-x11-dev libgl1-mesa-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
+          cmake .. && make && sudo make install
+
+      - name: run tests
+        run: |
+          cargo test --lib
+          cargo test --doc
+          cargo test --tests
+          cargo test --benches
+          cargo test --examples
+
+  test-aarch64:
+    if: matrix.arch == 'aarch64'
+    
+    runs-on: ubuntu-24.04-arm
+    
+    steps:
+      - uses: actions/checkout@v5
+      
+      - name: setup Rust
+        run: |
+          rustup update
+          rustup default ${{ matrix.toolchain }}
+          rustup component add rustfmt   ### required for the build script to work ###
           
+      - name: setup MuJoCo
+        run: |
+          mkdir -p $HOME/.mujoco
+          cd $HOME/.mujoco
+          wget https://github.com/google-deepmind/mujoco/releases/download/3.3.2/mujoco-3.3.2-linux-${{ matrix.arch }}.tar.gz
+          tar -xzf mujoco-3.3.2-linux-${{ matrix.arch }}.tar.gz
+          echo "MUJOCO_DIR=$HOME/.mujoco/mujoco-3.3.2" >> $GITHUB_ENV
+          echo "LD_LIBRARY_PATH=$HOME/.mujoco/mujoco-3.3.2/lib:$LD_LIBRARY_PATH" >> $GITHUB_ENV
+          
+      - name: setup additional dependencies for examples
+        run: |
+          git clone https://github.com/glfw/glfw.git
+          mkdir -p glfw/build && cd glfw/build
+          sudo apt update && sudo apt install -y cmake build-essential libwayland-dev libxkbcommon-x11-dev libgl1-mesa-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
+          cmake .. && make && sudo make install
+
       - name: run tests
-        env:
-          CARGO_BUILD_TARGET: ${{ matrix.arch }}-unknown-linux-gnu
         run: |
           cargo test --lib
           cargo test --doc
           cargo test --tests
           cargo test --benches
           cargo test --examples
+          
+          
+          
+          
+          
+          
+          
+          
+          
+          
+#  test:
+#    runs-on: ubuntu-latest
+#    
+#    strategy:
+#      matrix:
+#        toolchain: ['stable', 'nightly']
+#        arch: ['x86_64', 'aarch64']
+#
+#    steps:
+#      - uses: actions/checkout@v5
+#
+#      - name: setup
+#        run: |
+#          rustup update
+#          rustup default ${{ matrix.toolchain }}
+#          rustup target add ${{ matrix.arch }}-unknown-linux-gnu
+#          rustup component add rustfmt   ### required for the build script to work ###
+#          
+#          mkdir -p $HOME/.mujoco
+#          cd $HOME/.mujoco
+#          wget https://github.com/google-deepmind/mujoco/releases/download/3.3.2/mujoco-3.3.2-linux-${{ matrix.arch }}.tar.gz
+#          tar -xzf mujoco-3.3.2-linux-${{ matrix.arch }}.tar.gz
+#          echo "MUJOCO_DIR=$HOME/.mujoco/mujoco-3.3.2" >> $GITHUB_ENV
+#          echo "LD_LIBRARY_PATH=$HOME/.mujoco/mujoco-3.3.2/lib:$LD_LIBRARY_PATH" >> $GITHUB_ENV
+#          
+#          if [ "${{ matrix.arch }}" = 'aarch64' ]; then
+#            sudo apt update && sudo apt install -y gcc-aarch64-linux-gnu g++-aarch64-linux-gnu pkg-config
+#            echo "PKG_CONFIG=aarch64-linux-gnu-pkg-config" >> $GITHUB_ENV
+#            echo "PKG_CONFIG_PATH=/usr/lib/aarch64-linux-gnu/pkgconfig:/usr/local/lib/aarch64-linux-gnu/pkgconfig:/usr/local/share/pkgconfig:$PKG_CONFIG_PATH" >> $GITHUB_ENV
+#          fi
+#      
+#      - name: setup additional dependencies for examples
+#        run: |
+#          git clone https://github.com/glfw/glfw.git
+#          mkdir -p glfw/build && cd glfw/build
+#          if [ "${{ matrix.arch }}" = 'x86_64' ]; then
+#            sudo apt update
+#            sudo apt install -y cmake build-essential libwayland-dev libxkbcommon-x11-dev libgl1-mesa-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
+#            cmake .. -DGLFW_BUILD_EXAMPLES=OFF -DGLFW_BUILD_TESTS=OFF -DGLFW_BUILD_DOCS=OFF
+#            make && sudo make install
+#          elif [ "${{ matrix.arch }}" = 'aarch64' ]; then
+#            sudo dpkg --add-architecture arm64
+#            echo "deb [arch=arm64] http://ports.ubuntu.com/ubuntu-ports noble main restricted universe multiverse" | sudo tee /etc/apt/sources.list.d/ports.list
+#            echo "deb [arch=arm64] http://ports.ubuntu.com/ubuntu-ports noble-updates main restricted universe multiverse" | sudo tee -a /etc/apt/sources.list.d/ports.list
+#            echo "deb [arch=arm64] http://ports.ubuntu.com/ubuntu-ports noble-security main restricted universe multiverse" | sudo tee -a /etc/apt/sources.list.d/ports.list
+#            echo "deb [arch=arm64] http://ports.ubuntu.com/ubuntu-ports noble-backports main restricted universe multiverse" | sudo tee -a /etc/apt/sources.list.d/ports.list
+#            sudo apt update || :   ### fails to fetch some security repositories that don't support arm64, but it doesn't matter ###
+#            sudo apt install -y cmake build-essential libwayland-dev:arm64 libxkbcommon-x11-dev:arm64 libgl1-mesa-dev:arm64 libxcursor-dev:arm64 libxi-dev:arm64 libxinerama-dev:arm64 libxrandr-dev:arm64
+#            sudo apt install -y wayland-protocols
+#            cmake .. -DCMAKE_C_COMPILER=aarch64-linux-gnu-gcc -DGLFW_BUILD_EXAMPLES=OFF -DGLFW_BUILD_TESTS=OFF -DGLFW_BUILD_DOCS=OFF
+#            make && sudo make install
+#          fi
+#          
+#      - name: run tests
+#        env:
+#          CARGO_BUILD_TARGET: ${{ matrix.arch }}-unknown-linux-gnu
+#        run: |
+#          cargo test --lib
+#          cargo test --doc
+#          cargo test --tests
+#          cargo test --benches
+#          cargo test --examples
+#
\ No newline at end of file

From 0236efc7d23dc3a1df9a2fa93ba172c0f4505948 Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Tue, 16 Sep 2025 06:48:52 +0900
Subject: [PATCH 30/33] use needs's output for job-level if-condition

---
 .github/workflows/CI.yml | 16 ++++++++++++----
 1 file changed, 12 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 4ff9dc8..eb27379 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -57,11 +57,19 @@ jobs:
             echo "[DEBUG] bindgen.rs content:" && cat ./src/bindgen.rs
             exit 1
           fi
+          
+  tester:
+    runs-on: ubuntu-latest
+    outputs:
+      arch: ${{ steps.determine_arch.outputs.arch }}
+    steps:
+      - id: determine_arch
+        run: echo "${{ matrix.arch }}" >> $GITHUB_OUTPUT
 
   test-x86_64:
-    if: matrix.arch == 'x86_64'
-    
     runs-on: ubuntu-24.04
+    needs: tester
+    if: needs.tester.outputs.arch == 'x86_64'
     
     steps:
       - uses: actions/checkout@v5
@@ -97,9 +105,9 @@ jobs:
           cargo test --examples
 
   test-aarch64:
-    if: matrix.arch == 'aarch64'
-    
     runs-on: ubuntu-24.04-arm
+    needs: tester
+    if: needs.tester.outputs.arch == 'aarch64'
     
     steps:
       - uses: actions/checkout@v5

From 34ce3db4cd1456e393e0aff601c7371a88423aa8 Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Tue, 16 Sep 2025 06:57:11 +0900
Subject: [PATCH 31/33] fix around strategy

---
 .github/workflows/CI.yml | 38 ++++++++++++++++----------------------
 1 file changed, 16 insertions(+), 22 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index eb27379..abaac0d 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -58,18 +58,12 @@ jobs:
             exit 1
           fi
           
-  tester:
-    runs-on: ubuntu-latest
-    outputs:
-      arch: ${{ steps.determine_arch.outputs.arch }}
-    steps:
-      - id: determine_arch
-        run: echo "${{ matrix.arch }}" >> $GITHUB_OUTPUT
-
-  test-x86_64:
+  test-linux-x86_64:
     runs-on: ubuntu-24.04
-    needs: tester
-    if: needs.tester.outputs.arch == 'x86_64'
+    
+    strategy:
+      matrix:
+        toolchain: ['stable', 'nightly']
     
     steps:
       - uses: actions/checkout@v5
@@ -82,10 +76,9 @@ jobs:
           
       - name: setup MuJoCo
         run: |
-          mkdir -p $HOME/.mujoco
-          cd $HOME/.mujoco
-          wget https://github.com/google-deepmind/mujoco/releases/download/3.3.2/mujoco-3.3.2-linux-${{ matrix.arch }}.tar.gz
-          tar -xzf mujoco-3.3.2-linux-${{ matrix.arch }}.tar.gz
+          mkdir -p $HOME/.mujoco && cd $HOME/.mujoco
+          wget https://github.com/google-deepmind/mujoco/releases/download/3.3.2/mujoco-3.3.2-linux-x86_64.tar.gz
+          tar -xzf mujoco-3.3.2-linux-x86_64.tar.gz
           echo "MUJOCO_DIR=$HOME/.mujoco/mujoco-3.3.2" >> $GITHUB_ENV
           echo "LD_LIBRARY_PATH=$HOME/.mujoco/mujoco-3.3.2/lib:$LD_LIBRARY_PATH" >> $GITHUB_ENV
           
@@ -104,10 +97,12 @@ jobs:
           cargo test --benches
           cargo test --examples
 
-  test-aarch64:
+  test-linux-aarch64:
     runs-on: ubuntu-24.04-arm
-    needs: tester
-    if: needs.tester.outputs.arch == 'aarch64'
+    
+    strategy:
+      matrix:
+        toolchain: ['stable', 'nightly']
     
     steps:
       - uses: actions/checkout@v5
@@ -120,10 +115,9 @@ jobs:
           
       - name: setup MuJoCo
         run: |
-          mkdir -p $HOME/.mujoco
-          cd $HOME/.mujoco
-          wget https://github.com/google-deepmind/mujoco/releases/download/3.3.2/mujoco-3.3.2-linux-${{ matrix.arch }}.tar.gz
-          tar -xzf mujoco-3.3.2-linux-${{ matrix.arch }}.tar.gz
+          mkdir -p $HOME/.mujoco && cd $HOME/.mujoco
+          wget https://github.com/google-deepmind/mujoco/releases/download/3.3.2/mujoco-3.3.2-linux-aarch64.tar.gz
+          tar -xzf mujoco-3.3.2-linux-aarch64.tar.gz
           echo "MUJOCO_DIR=$HOME/.mujoco/mujoco-3.3.2" >> $GITHUB_ENV
           echo "LD_LIBRARY_PATH=$HOME/.mujoco/mujoco-3.3.2/lib:$LD_LIBRARY_PATH" >> $GITHUB_ENV
           

From 71dbb0e298686218a0dc91ce7da8177fd9fd74af Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Tue, 16 Sep 2025 07:08:13 +0900
Subject: [PATCH 32/33] unify tests

---
 .github/workflows/CI.yml | 56 +++++++++-------------------------------
 1 file changed, 12 insertions(+), 44 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index abaac0d..1b8bee6 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -57,52 +57,14 @@ jobs:
             echo "[DEBUG] bindgen.rs content:" && cat ./src/bindgen.rs
             exit 1
           fi
-          
-  test-linux-x86_64:
-    runs-on: ubuntu-24.04
-    
-    strategy:
-      matrix:
-        toolchain: ['stable', 'nightly']
-    
-    steps:
-      - uses: actions/checkout@v5
-      
-      - name: setup Rust
-        run: |
-          rustup update
-          rustup default ${{ matrix.toolchain }}
-          rustup component add rustfmt   ### required for the build script to work ###
-          
-      - name: setup MuJoCo
-        run: |
-          mkdir -p $HOME/.mujoco && cd $HOME/.mujoco
-          wget https://github.com/google-deepmind/mujoco/releases/download/3.3.2/mujoco-3.3.2-linux-x86_64.tar.gz
-          tar -xzf mujoco-3.3.2-linux-x86_64.tar.gz
-          echo "MUJOCO_DIR=$HOME/.mujoco/mujoco-3.3.2" >> $GITHUB_ENV
-          echo "LD_LIBRARY_PATH=$HOME/.mujoco/mujoco-3.3.2/lib:$LD_LIBRARY_PATH" >> $GITHUB_ENV
-          
-      - name: setup additional dependencies for examples
-        run: |
-          git clone https://github.com/glfw/glfw.git
-          mkdir -p glfw/build && cd glfw/build
-          sudo apt update && sudo apt install -y cmake build-essential libwayland-dev libxkbcommon-x11-dev libgl1-mesa-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
-          cmake .. && make && sudo make install
 
-      - name: run tests
-        run: |
-          cargo test --lib
-          cargo test --doc
-          cargo test --tests
-          cargo test --benches
-          cargo test --examples
-
-  test-linux-aarch64:
-    runs-on: ubuntu-24.04-arm
-    
+  test:
     strategy:
       matrix:
         toolchain: ['stable', 'nightly']
+        os: ['ubuntu-24.04', 'ubuntu-24.04-arm']
+    
+    runs-on: ${{ matrix.os }}
     
     steps:
       - uses: actions/checkout@v5
@@ -115,9 +77,15 @@ jobs:
           
       - name: setup MuJoCo
         run: |
+          MUJOCO_FILENAME='mujoco-3.3.2'
+          if [ "${{ matrix.os }}" = 'ubuntu-24.04' ]; then
+            MUJOCO_FILENAME+='-linux-x86_64.tar.gz'
+          elif [ "${{ matrix.os }}" = 'ubuntu-24.04-arm' ]; then
+            MUJOCO_FILENAME+='-linux-aarch64.tar.gz'
+          fi
           mkdir -p $HOME/.mujoco && cd $HOME/.mujoco
-          wget https://github.com/google-deepmind/mujoco/releases/download/3.3.2/mujoco-3.3.2-linux-aarch64.tar.gz
-          tar -xzf mujoco-3.3.2-linux-aarch64.tar.gz
+          wget https://github.com/google-deepmind/mujoco/releases/download/3.3.2/$MUJOCO_FILENAME
+          tar -xzf $MUJOCO_FILENAME
           echo "MUJOCO_DIR=$HOME/.mujoco/mujoco-3.3.2" >> $GITHUB_ENV
           echo "LD_LIBRARY_PATH=$HOME/.mujoco/mujoco-3.3.2/lib:$LD_LIBRARY_PATH" >> $GITHUB_ENV
           

From 8a78b9e478844ad2c6c13b910adad9fa47eceed3 Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Tue, 16 Sep 2025 07:14:01 +0900
Subject: [PATCH 33/33] remove unused comments & refine conditional filename

---
 .github/workflows/CI.yml | 78 ++--------------------------------------
 1 file changed, 2 insertions(+), 76 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 1b8bee6..d007141 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -77,11 +77,10 @@ jobs:
           
       - name: setup MuJoCo
         run: |
-          MUJOCO_FILENAME='mujoco-3.3.2'
           if [ "${{ matrix.os }}" = 'ubuntu-24.04' ]; then
-            MUJOCO_FILENAME+='-linux-x86_64.tar.gz'
+            MUJOCO_FILENAME='mujoco-3.3.2-linux-x86_64.tar.gz'
           elif [ "${{ matrix.os }}" = 'ubuntu-24.04-arm' ]; then
-            MUJOCO_FILENAME+='-linux-aarch64.tar.gz'
+            MUJOCO_FILENAME='mujoco-3.3.2-linux-aarch64.tar.gz'
           fi
           mkdir -p $HOME/.mujoco && cd $HOME/.mujoco
           wget https://github.com/google-deepmind/mujoco/releases/download/3.3.2/$MUJOCO_FILENAME
@@ -103,76 +102,3 @@ jobs:
           cargo test --tests
           cargo test --benches
           cargo test --examples
-          
-          
-          
-          
-          
-          
-          
-          
-          
-          
-#  test:
-#    runs-on: ubuntu-latest
-#    
-#    strategy:
-#      matrix:
-#        toolchain: ['stable', 'nightly']
-#        arch: ['x86_64', 'aarch64']
-#
-#    steps:
-#      - uses: actions/checkout@v5
-#
-#      - name: setup
-#        run: |
-#          rustup update
-#          rustup default ${{ matrix.toolchain }}
-#          rustup target add ${{ matrix.arch }}-unknown-linux-gnu
-#          rustup component add rustfmt   ### required for the build script to work ###
-#          
-#          mkdir -p $HOME/.mujoco
-#          cd $HOME/.mujoco
-#          wget https://github.com/google-deepmind/mujoco/releases/download/3.3.2/mujoco-3.3.2-linux-${{ matrix.arch }}.tar.gz
-#          tar -xzf mujoco-3.3.2-linux-${{ matrix.arch }}.tar.gz
-#          echo "MUJOCO_DIR=$HOME/.mujoco/mujoco-3.3.2" >> $GITHUB_ENV
-#          echo "LD_LIBRARY_PATH=$HOME/.mujoco/mujoco-3.3.2/lib:$LD_LIBRARY_PATH" >> $GITHUB_ENV
-#          
-#          if [ "${{ matrix.arch }}" = 'aarch64' ]; then
-#            sudo apt update && sudo apt install -y gcc-aarch64-linux-gnu g++-aarch64-linux-gnu pkg-config
-#            echo "PKG_CONFIG=aarch64-linux-gnu-pkg-config" >> $GITHUB_ENV
-#            echo "PKG_CONFIG_PATH=/usr/lib/aarch64-linux-gnu/pkgconfig:/usr/local/lib/aarch64-linux-gnu/pkgconfig:/usr/local/share/pkgconfig:$PKG_CONFIG_PATH" >> $GITHUB_ENV
-#          fi
-#      
-#      - name: setup additional dependencies for examples
-#        run: |
-#          git clone https://github.com/glfw/glfw.git
-#          mkdir -p glfw/build && cd glfw/build
-#          if [ "${{ matrix.arch }}" = 'x86_64' ]; then
-#            sudo apt update
-#            sudo apt install -y cmake build-essential libwayland-dev libxkbcommon-x11-dev libgl1-mesa-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
-#            cmake .. -DGLFW_BUILD_EXAMPLES=OFF -DGLFW_BUILD_TESTS=OFF -DGLFW_BUILD_DOCS=OFF
-#            make && sudo make install
-#          elif [ "${{ matrix.arch }}" = 'aarch64' ]; then
-#            sudo dpkg --add-architecture arm64
-#            echo "deb [arch=arm64] http://ports.ubuntu.com/ubuntu-ports noble main restricted universe multiverse" | sudo tee /etc/apt/sources.list.d/ports.list
-#            echo "deb [arch=arm64] http://ports.ubuntu.com/ubuntu-ports noble-updates main restricted universe multiverse" | sudo tee -a /etc/apt/sources.list.d/ports.list
-#            echo "deb [arch=arm64] http://ports.ubuntu.com/ubuntu-ports noble-security main restricted universe multiverse" | sudo tee -a /etc/apt/sources.list.d/ports.list
-#            echo "deb [arch=arm64] http://ports.ubuntu.com/ubuntu-ports noble-backports main restricted universe multiverse" | sudo tee -a /etc/apt/sources.list.d/ports.list
-#            sudo apt update || :   ### fails to fetch some security repositories that don't support arm64, but it doesn't matter ###
-#            sudo apt install -y cmake build-essential libwayland-dev:arm64 libxkbcommon-x11-dev:arm64 libgl1-mesa-dev:arm64 libxcursor-dev:arm64 libxi-dev:arm64 libxinerama-dev:arm64 libxrandr-dev:arm64
-#            sudo apt install -y wayland-protocols
-#            cmake .. -DCMAKE_C_COMPILER=aarch64-linux-gnu-gcc -DGLFW_BUILD_EXAMPLES=OFF -DGLFW_BUILD_TESTS=OFF -DGLFW_BUILD_DOCS=OFF
-#            make && sudo make install
-#          fi
-#          
-#      - name: run tests
-#        env:
-#          CARGO_BUILD_TARGET: ${{ matrix.arch }}-unknown-linux-gnu
-#        run: |
-#          cargo test --lib
-#          cargo test --doc
-#          cargo test --tests
-#          cargo test --benches
-#          cargo test --examples
-#
\ No newline at end of file