chore(workflow): run CI on both x86_64 and aarch64 Linux

.github/workflows/CI.yml

@@ -13,17 +13,22 @@ jobs:
 
     strategy:
       matrix:
-        toolchain: [stable, nightly]
+        toolchain: ['stable', 'nightly']
+        arch: ['x86_64', 'aarch64']
 
     steps:
       - uses: actions/checkout@v5
 
       - run: |
           rustup update
           rustup default ${{ matrix.toolchain }}
-          rustup component add rustfmt  ### required for the build script to work ###
+          rustup target add ${{ matrix.arch }}-unknown-linux-gnu
+          rustup component add rustfmt   ### required for the build script to work ###
+          [ "${{ 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 cargo build; then
             echo 'cargo check succeeded without mujoco, which is unexpected.'
@@ -36,12 +41,14 @@ jobs:
         run: |
           mkdir -p $HOME/.mujoco
           cd $HOME/.mujoco
-          wget https://github.com/google-deepmind/mujoco/releases/download/3.3.2/mujoco-3.3.2-linux-x86_64.tar.gz
-          tar -xzf mujoco-3.3.2-linux-x86_64.tar.gz
+          wget https://github.com/google-deepmind/mujoco/releases/download/3.3.2/mujoco-3.3.2-linux-${{ 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.arch }}-unknown-linux-gnu
         run: |
           if cargo build; then
             echo 'cargo check succeeded with mujoco, as expected.'
@@ -50,36 +57,44 @@ jobs:
             echo "[DEBUG] bindgen.rs content:" && cat ./src/bindgen.rs
             exit 1
           fi
-  
+
   test:
-    runs-on: ubuntu-latest
-
     strategy:
       matrix:
-        toolchain: [stable, nightly]
-
+        toolchain: ['stable', 'nightly']
+        os: ['ubuntu-24.04', 'ubuntu-24.04-arm']
+
+    runs-on: ${{ matrix.os }}
+
     steps:
-      - uses: actions/checkout@v4
-
-      - name: setup
+      - 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 ###
-          mkdir -p $HOME/.mujoco
-          cd $HOME/.mujoco
-          wget https://github.com/google-deepmind/mujoco/releases/download/3.3.2/mujoco-3.3.2-linux-x86_64.tar.gz
-          tar -xzf mujoco-3.3.2-linux-x86_64.tar.gz
+          rustup component add rustfmt   ### required for the build script to work ###
+
+      - name: setup MuJoCo
+        run: |
+          if [ "${{ matrix.os }}" = 'ubuntu-24.04' ]; then
+            MUJOCO_FILENAME='mujoco-3.3.2-linux-x86_64.tar.gz'
+          elif [ "${{ matrix.os }}" = 'ubuntu-24.04-arm' ]; then
+            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
+          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
-
+          
       - 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
+          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