Add build.yml for GitHub Actions.
Add build.yml for GitHub Actions.

PiperOrigin-RevId: 450475783
Change-Id: I2384b64459c327b94ac98aa0bdd8a5258c5cda0f

deepmind/mujoco,deepmind/mujoco,deepmind/mujoco,deepmind/mujoco,deepmind/mujoco