compile for android when doing a mujoco release

[joanllobera]

The compilation of mujoco for android could easily be included in each new release, and it would be easier to use it.

I give more context for our particular use case:

We are using mujoco in Unity, and using it in VR experiences. The fact that each release is compiled for linux, apple and windows is fantastic, since we use the three of them. To avoid mixups in Unity, I have set up a simple package called mujoco-bin that sistematizes the import of the packages. It allows compiling any project using mujoco for all the platforms, without having to set up how each version of the mujoco library is imported.

However, these days most VR headsets are based on android. So, to update mujoco-bin we need to recompile each mujoco release for android, and add it to the package. The result is this:
https://github.com/joanllobera/mujoco-bin/tree/main/Runtime/Plugins/Android

This works fine, but the compilation for android could easily be integrated in the release pipeline that compiles for every other platform.
Here there is a description on how we do it: https://github.com/yvesantzero/mujoco/blob/main/build_mujoco_android.pdf

It would be great if what is described in the pdf could be integrated in the pipeline that generates the releases.

[low-control-labs]

Did you try making a pull request? I think the main issue is android-studio in the GitHub runner.

No, on the serious side I know I had issues with LTO but I see they are disabled in the runners by default. Not sure if ninja helps somehow because I see it's used in the runner and the guide but I had issues with qhull as well. I remember the wasm build has or maybe had some problem and patching logic for qhull. Also they would probably need to add ANDROID guards across the project like they are doing for every OS in order to keep it clean. Also I think versioning the build tools is gonna be an extra pain no one wants to deal with.

I see they want to switch the rendering to filament so maybe they have some plans for an entire app.

I have an Augmented Reality viewer app, well I need to strip it out from my current system a reimplement rendering as it's a bit messy now. I'm thinking of doing it in the open ( I will eventually open-source all the apps ) so if anyone has everything running and figured out, without issues and jumping hoops let me know.