Copybara import of the project:

--
3439d8a5cd745dfd2776593916eead65cb456afc by Kevin Zakka <kevinarmandzakka@gmail.com>:

Respect an explicit CMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF

The default-LTO guard checked the value rather than whether it was DEFINED, so an
explicit -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF (used in CI to cut build time)
was silently flipped back ON. Check DEFINED instead; default-on for Release is
preserved when the caller makes no choice.

--
bd15d1b264e5ab9594669b58fa1e0388d0a16f6b by Kevin Zakka <kevinarmandzakka@gmail.com>:

Speed up CI

~10x faster on the POSIX jobs (~45m -> ~4-5m) and ~2x overall wall-clock.

- Build Studio/Filament and WASM only in their dedicated canary jobs, not in
  every matrix job (WASM uses emcc, which ignores the host compiler).
- Compiler matrix -> build_matrix.json with core/extended tiers: PRs build the
  core set, pushes to main run the full sweep.
- ccache across build jobs (studio cache keyed on the Filament pin); fix the
  Python-bindings build so ccache hits (CCACHE_BASEDIR).
- Disable IPO/LTO on POSIX (it was silently on); keep it on Windows where /GL-off
  exposes a latent test bug and build time is not the bottleneck.
- Run ctest in parallel on POSIX (~2x); uv for Python installs (~29s -> ~8s).
- Move MJX (compiler-independent) to a single dedicated job.
- Restrict GITHUB_TOKEN to contents: read; bump actions off deprecated Node20.

--
c0618ab7aef524b238e0a30f2f23c50c4ce0c9b1 by Kevin Zakka <kevinarmandzakka@gmail.com>:

Build the gcc jobs with LTO off too

Restores LTO-off for gcc (recovering the build-time win). That surfaces known
gcc-12 -Wrestrict false positives in libstdc++ <char_traits> at -O3; two clean,
behavior-preserving rewrites in the XML writer avoid them. Confirmed gcc-12 and
gcc-14 build clean with LTO off (PR #3325).

--
2c38da0f48f77635e58e4b7931b86d60f3c253c7 by Kevin Zakka <kevinarmandzakka@gmail.com>:

Respect explicit IPO=OFF in the Simulate and Sample options too

Apply the same DEFINED check as cmake/MujocoOptions.cmake to the simulate/ and
sample/ subprojects (which carry identical copies of the guard) to keep the three
in sync, as the internal import requires. Since the guard now honors =OFF, stop
forcing IPO=OFF on the tiny samples/simulate CI builds so they keep their default
LTO and don't expose the gcc -Werror false positives that -O3-without-LTO triggers.

COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/3315 from google-deepmind:speed-up-ci 2c38da0f48f77635e58e4b7931b86d60f3c253c7
PiperOrigin-RevId: 930008698
Change-Id: Ic41dc87881833c95f2ebfc0602de1ed438db3d4f

.github/workflows/build.yml

@@ -5,6 +5,17 @@
 #
 # We set CMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF here to reduce build time.
 # It is highly recommended that this is set to ON for production builds.
+#
+# Build speed notes:
+#   * The compiler matrix lives in build_matrix.json. Pull requests build the
+#     representative "core" subset; pushes to main run the full compiler sweep.
+#     (See generate_matrix() in build_steps.sh.)
+#   * Studio/Filament and WASM are NOT built in the main matrix - they are covered
+#     by the dedicated `studio` and `wasm` jobs below. WASM in particular is built
+#     with emcc, which ignores the host compiler, so building it per-compiler added
+#     no coverage.
+#   * ccache is used to wrap the compiler. PR branches fall back to main's cache, so
+#     the expensive (and pinned) Filament build is restored rather than recompiled.
 
 # TODO(matijak): Consider switching Windows to Ninja builds only, this configures slightly faster
 # and brings Windows in line with other OSes. Also we wouldn't need to specify the --config option
@@ -24,110 +35,39 @@ on:
       - "doc/**"
       - "**/README.md"
 
+# Limit the default GITHUB_TOKEN to read-only. No job here writes via the token:
+# checkout reads the repo; ccache/cache and upload-artifact use their own backend
+# tokens; the chat notification uses a secret webhook.
+permissions:
+  contents: read
+
 jobs:
+  # Compute the build matrix based on the event: PRs get the "core" representative
+  # compiler set, pushes to main get the full sweep.
+  setup:
+    name: "setup (compute matrix)"
+    runs-on: ubuntu-latest
+    outputs:
+      matrix: ${{ steps.generate.outputs.matrix }}
+    steps:
+    - uses: actions/checkout@v6
+    - name: Generate build matrix
+      id: generate
+      env:
+        GITHUB_EVENT_NAME: ${{ github.event_name }}
+      run: bash ./.github/workflows/build_steps.sh generate_matrix
+
   mujoco:
+    needs: setup
     strategy:
       fail-fast: false
-      matrix:
-        include:
-          - os: ubuntu-24.04
-            label: "ubuntu-24.04-gcc-14"
-            cmake_args: >-
-              -G Ninja
-              -DCMAKE_C_COMPILER:STRING=gcc-14
-              -DCMAKE_CXX_COMPILER:STRING=g++-14
-              -DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed
-            tmpdir: "/tmp"
-          - os: ubuntu-24.04
-            label: "ubuntu-24.04-gcc-13"
-            cmake_args: >-
-              -G Ninja
-              -DCMAKE_C_COMPILER:STRING=gcc-13
-              -DCMAKE_CXX_COMPILER:STRING=g++-13
-              -DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed
-            tmpdir: "/tmp"
-          - os: ubuntu-22.04
-            label: "ubuntu-22.04-gcc-12"
-            cmake_args: >-
-              -G Ninja
-              -DCMAKE_C_COMPILER:STRING=gcc-12
-              -DCMAKE_CXX_COMPILER:STRING=g++-12
-              -DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed
-            tmpdir: "/tmp"
-          - os: ubuntu-24.04
-            label: "ubuntu-24.04-clang-18"
-            cmake_args: >-
-              -G Ninja
-              -DCMAKE_C_COMPILER:STRING=clang-18
-              -DCMAKE_CXX_COMPILER:STRING=clang++-18
-              -DMUJOCO_HARDEN:BOOL=ON
-            tmpdir: "/tmp"
-          - os: ubuntu-24.04
-            label: "ubuntu-24.04-clang-17"
-            cmake_args: >-
-              -G Ninja
-              -DCMAKE_C_COMPILER:STRING=clang-17
-              -DCMAKE_CXX_COMPILER:STRING=clang++-17
-              -DMUJOCO_HARDEN:BOOL=ON
-            tmpdir: "/tmp"
-          - os: ubuntu-24.04
-            label: "ubuntu-24.04-clang-16"
-            cmake_args: >-
-              -G Ninja
-              -DCMAKE_C_COMPILER:STRING=clang-16
-              -DCMAKE_CXX_COMPILER:STRING=clang++-16
-              -DMUJOCO_HARDEN:BOOL=ON
-            tmpdir: "/tmp"
-          - os: ubuntu-22.04
-            label: "ubuntu-22.04-clang-15"
-            cmake_args: >-
-              -G Ninja
-              -DCMAKE_C_COMPILER:STRING=clang-15
-              -DCMAKE_CXX_COMPILER:STRING=clang++-15
-              -DMUJOCO_HARDEN:BOOL=ON
-            tmpdir: "/tmp"
-          - os: ubuntu-22.04
-            label: "ubuntu-22.04-clang-14"
-            cmake_args: >-
-              -G Ninja
-              -DCMAKE_C_COMPILER:STRING=clang-14
-              -DCMAKE_CXX_COMPILER:STRING=clang++-14
-              -DMUJOCO_HARDEN:BOOL=ON
-            tmpdir: "/tmp"
-          - os: ubuntu-22.04
-            label: "ubuntu-22.04-clang-13"
-            cmake_args: >-
-              -G Ninja
-              -DCMAKE_C_COMPILER:STRING=clang-13
-              -DCMAKE_CXX_COMPILER:STRING=clang++-13
-              -DCMAKE_EXE_LINKER_FLAGS:STRING=-rtlib=compiler-rt
-              -DCMAKE_SHARED_LINKER_FLAGS:STRING=-rtlib=compiler-rt
-              -DMUJOCO_HARDEN:BOOL=ON
-            tmpdir: "/tmp"
-          - os: macos-15
-            label: "macos-15-arm64"
-            cmake_args: >-
-              -G Ninja
-              -DMUJOCO_HARDEN:BOOL=ON
-            tmpdir: "/tmp"
-          - os: macos-15-large
-            label: "macos-15-x86_64"
-            cmake_args: >-
-              -G Ninja
-              -DMUJOCO_HARDEN:BOOL=ON
-            tmpdir: "/tmp"
-          - os: windows-2025
-            label: "windows-2025"
-            cmake_args: >-
-              -DCMAKE_SYSTEM_VERSION="10.0.26100.0"
-            cmake_build_args: "-- -m"
-            tmpdir: "C:/Temp"
+      matrix: ${{ fromJson(needs.setup.outputs.matrix) }}
 
     name: "${{ matrix.label }}"
     runs-on: ${{ matrix.os }}
 
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v6
 
     - name: Prepare Linux
       if: ${{ runner.os == 'Linux' }}
@@ -137,31 +77,36 @@ jobs:
       if: ${{ runner.os == 'macOS' }}
       run: brew install ninja
 
-    - uses: actions/setup-python@v4
+    - uses: actions/setup-python@v6
       with:
         python-version: "3.11"
 
+    # uv makes the dependency install much faster, with a cross-run cache. POSIX
+    # only: Windows stays on pip (it is not a Python-setup bottleneck, and this
+    # keeps the venv activate fixup path untouched there).
+    - name: Install uv
+      if: ${{ runner.os != 'Windows' }}
+      uses: astral-sh/setup-uv@v8.2.0
+      with:
+        enable-cache: true
+        cache-dependency-glob: "python/build_requirements*.txt"
+
     - name: Prepare Python
       shell: bash
       env:
         TMPDIR: ${{ matrix.tmpdir }}
       run: bash ./.github/workflows/build_steps.sh prepare_python
 
-    - name: Setup Node.js for WASM bindings
-      if: ${{ runner.os == 'Linux' && matrix.label != 'ubuntu-24.04-clang-18' }}
-      uses: actions/setup-node@v4
+    # ccache dramatically speeds up warm rebuilds. The key is the matrix label so
+    # each compiler gets its own cache; the action's restore-keys let PR branches
+    # fall back to main's cache. ccache on Windows/MSVC is finicky and Windows
+    # isn't the bottleneck, so we skip it there.
+    - name: Setup ccache
+      if: ${{ runner.os != 'Windows' }}
+      uses: hendrikmuhs/ccache-action@v1.2.23
       with:
-        node-version: '20'
-
-    # Exclude platforms covered by the `wasm` job.
-    - name: Install NPM Dependencies for WASM bindings
-      if: ${{ runner.os == 'Linux' && matrix.label != 'ubuntu-24.04-clang-18' }}
-      run: bash ./.github/workflows/build_steps.sh npm_ci
-
-    # Exclude platforms covered by the `wasm` job.
-    - name: Setup Emscripten for WASM bindings
-      if: ${{ runner.os == 'Linux' && matrix.label != 'ubuntu-24.04-clang-18' }}
-      run: bash ./.github/workflows/build_steps.sh setup_emsdk
+        key: ${{ matrix.label }}
+        max-size: "1.5G"
 
     - name: Configure MuJoCo
       env:
@@ -171,7 +116,7 @@ jobs:
 
     - name: Upload CMake Configure Log
       if: always()
-      uses: actions/upload-artifact@v4
+      uses: actions/upload-artifact@v7
       with:
         name: cmake-configure-log-${{ matrix.label }}
         path: build/CMakeFiles/CMakeConfigureLog.yaml
@@ -229,26 +174,6 @@ jobs:
         CMAKE_BUILD_ARGS: ${{ matrix.cmake_build_args }}
       run: bash ../../.github/workflows/build_steps.sh build_simulate
 
-    # Exclude platforms covered by the `studio` job.
-    # Exclude macos-15-x86_64 because we don't have a way maintain/develop the build locally.
-    - name: Configure Studio
-      if: ${{ matrix.label != 'windows-2025' &&
-              matrix.label != 'macos-15-arm64' &&
-              matrix.label != 'macos-15-x86_64' }}
-      env:
-        CMAKE_ARGS: ${{ matrix.cmake_args }}
-      run: bash ./.github/workflows/build_steps.sh configure_studio
-
-    # Exclude platforms covered by the `studio` job.
-    # Exclude macos-15-x86_64 because we don't have a way maintain/develop the build locally.
-    # TODO(haroonq): Fix Filament compilation for GCC<=12?
-    - name: Build Studio
-      if: ${{ matrix.label != 'windows-2025' &&
-              matrix.label != 'macos-15-arm64' &&
-              matrix.label != 'macos-15-x86_64' &&
-              matrix.label != 'ubuntu-22.04-gcc-12' }}
-      run: bash ./.github/workflows/build_steps.sh build_studio
-
     - name: Make Python sdist
       shell: bash
       working-directory: python
@@ -281,35 +206,8 @@ jobs:
         TMPDIR: ${{ matrix.tmpdir }}
       run: bash ./.github/workflows/build_steps.sh test_python_bindings
 
-    # Exclude platforms covered by the `wasm` job.
-    - name: Build and Test WASM bindings
-      if: ${{ runner.os == 'Linux' && matrix.label != 'ubuntu-24.04-clang-18' }}
-      shell: bash
-      run: bash ./.github/workflows/build_steps.sh build_test_wasm
-
-    - name: Package MJX
-      if: ${{ runner.os != 'Windows' }}
-      shell: bash
-      working-directory: mjx
-      env:
-        TMPDIR: ${{ matrix.tmpdir }}
-      run: bash ../.github/workflows/build_steps.sh package_mjx
-
-    - name: Install MJX
-      if: ${{ runner.os != 'Windows' }}
-      shell: bash
-      working-directory: mjx
-      env:
-        TMPDIR: ${{ matrix.tmpdir }}
-      run: bash ../.github/workflows/build_steps.sh install_mjx
-
-    - name: Test MJX
-      if: ${{ runner.os != 'Windows' }}
-      shell: bash
-      working-directory: mjx
-      env:
-        TMPDIR: ${{ matrix.tmpdir }}
-      run: bash ../.github/workflows/build_steps.sh test_mjx
+    # MJX (mujoco.mjx) is covered by the dedicated `mjx` job below; it is
+    # compiler-independent so it does not need to run in every matrix job.
 
     - name: Notify team chat
       shell: bash
@@ -323,7 +221,8 @@ jobs:
       if: failure() && github.ref_name == 'main' && github.event_name == 'push' && env.GCHAT_API_URL != ''
       run: bash ./.github/workflows/build_steps.sh notify_team_chat
 
-  # This job quickly determines if MuJoCo Studio is broken.
+  # This job quickly determines if MuJoCo Studio is broken. It is the only place
+  # Filament is compiled in CI, so ccache here is what keeps the long pole short.
   studio:
     strategy:
       fail-fast: false
@@ -336,6 +235,15 @@ jobs:
               -DCMAKE_C_COMPILER:STRING=clang-18
               -DCMAKE_CXX_COMPILER:STRING=clang++-18
               -DMUJOCO_HARDEN:BOOL=ON
+          # gcc canary: Filament is compiler-dependent and historically finicky on
+          # gcc, so keep one gcc Studio build even though the matrix no longer does.
+          - os: ubuntu-24.04
+            label: "ubuntu-24.04-gcc-14-studio"
+            cmake_args: >-
+              -G Ninja
+              -DCMAKE_C_COMPILER:STRING=gcc-14
+              -DCMAKE_CXX_COMPILER:STRING=g++-14
+              -DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed
           - os: windows-2025
             label: "windows-2025-ninja-studio"
             cmake_args: >-
@@ -352,7 +260,7 @@ jobs:
     runs-on: ${{ matrix.os }}
 
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v6
 
     - name: Prepare Windows (setup MSVC)
       if: ${{ runner.os == 'Windows' }}
@@ -362,6 +270,19 @@ jobs:
       if: ${{ runner.os == 'Linux' }}
       run: bash ./.github/workflows/build_steps.sh prepare_linux
 
+    # Key the cache on the Filament pin: hashing cmake/third_party_deps/filament.cmake
+    # captures BOTH the pinned commit hash and the FILAMENT_* build flags, so bumping
+    # either starts a fresh cache namespace instead of restoring stale artifacts.
+    # (Correctness does not depend on this: ccache is content-addressed on the full
+    # compiler invocation, so changing any build flag forces a recompile regardless.)
+    - name: Setup ccache
+      if: ${{ runner.os != 'Windows' }}
+      uses: hendrikmuhs/ccache-action@v1.2.23
+      with:
+        key: ${{ matrix.label }}-filament-${{ hashFiles('cmake/third_party_deps/filament.cmake') }}
+        restore-keys: ${{ matrix.label }}-filament-
+        max-size: "2.0G"
+
     - name: Configure Studio
       env:
         CMAKE_ARGS: ${{ matrix.cmake_args }}
@@ -395,10 +316,10 @@ jobs:
         -DCMAKE_CXX_COMPILER:STRING=clang++-18
         -DMUJOCO_HARDEN:BOOL=ON
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v6
 
     - name: Setup Node.js for WASM bindings
-      uses: actions/setup-node@v4
+      uses: actions/setup-node@v6
       with:
         node-version: '20'
 
@@ -406,6 +327,12 @@ jobs:
       if: ${{ runner.os == 'Linux' }}
       run: bash ./.github/workflows/build_steps.sh prepare_linux
 
+    - name: Setup ccache
+      uses: hendrikmuhs/ccache-action@v1.2.23
+      with:
+        key: ${{ env.label }}
+        max-size: "1.5G"
+
     # For convenience run multiple build_steps functions in a single step.
     - name: Prepare, Build and Test WASM bindings
       env:
@@ -426,3 +353,95 @@ jobs:
         CHATMSG_JOB_ID: ${{ env.label }}
       if: failure() && github.ref_name == 'main' && github.event_name == 'push' && env.GCHAT_API_URL != ''
       run: bash ./.github/workflows/build_steps.sh notify_team_chat
+
+
+  # MJX (mujoco.mjx) is pure JAX/XLA and compiler-independent: it imports the
+  # mujoco Python package only as a reference, so its tests run once here instead
+  # of in every matrix job. MuJoCo is built WITHOUT the C++ test suite (MJX does
+  # not need it) to keep the build lean.
+  mjx:
+    name: "ubuntu-24.04-clang-18-mjx"
+    runs-on: ubuntu-24.04
+    env:
+      TMPDIR: "/tmp"
+      CMAKE_ARGS: >-
+        -G Ninja
+        -DCMAKE_C_COMPILER:STRING=clang-18
+        -DCMAKE_CXX_COMPILER:STRING=clang++-18
+        -DMUJOCO_HARDEN:BOOL=ON
+        -DMUJOCO_BUILD_TESTS:BOOL=OFF
+    steps:
+    - uses: actions/checkout@v6
+
+    - name: Prepare Linux
+      run: bash ./.github/workflows/build_steps.sh prepare_linux
+
+    - uses: actions/setup-python@v6
+      with:
+        python-version: "3.11"
+
+    - name: Install uv
+      uses: astral-sh/setup-uv@v8.2.0
+      with:
+        enable-cache: true
+        cache-dependency-glob: "python/build_requirements*.txt"
+
+    - name: Prepare Python
+      run: bash ./.github/workflows/build_steps.sh prepare_python
+
+    - name: Setup ccache
+      uses: hendrikmuhs/ccache-action@v1.2.23
+      with:
+        key: ubuntu-24.04-clang-18-mjx
+        max-size: "1.0G"
+
+    - name: Configure MuJoCo
+      run: bash ./.github/workflows/build_steps.sh configure_mujoco
+
+    - name: Build MuJoCo
+      working-directory: build
+      run: bash ../.github/workflows/build_steps.sh build_mujoco
+
+    - name: Install MuJoCo
+      working-directory: build
+      run: bash ../.github/workflows/build_steps.sh install_mujoco
+
+    - name: Copy plugins
+      working-directory: build
+      run: bash ../.github/workflows/build_steps.sh copy_plugins_posix
+
+    - name: Make Python sdist
+      working-directory: python
+      run: bash ../.github/workflows/build_steps.sh make_python_sdist
+
+    - name: Build Python bindings
+      working-directory: python/dist
+      run: bash ../../.github/workflows/build_steps.sh build_python_bindings
+
+    - name: Install Python bindings
+      working-directory: python/dist
+      run: bash ../../.github/workflows/build_steps.sh install_python_bindings
+
+    - name: Package MJX
+      working-directory: mjx
+      run: bash ../.github/workflows/build_steps.sh package_mjx
+
+    - name: Install MJX
+      working-directory: mjx
+      run: bash ../.github/workflows/build_steps.sh install_mjx
+
+    - name: Test MJX
+      working-directory: mjx
+      run: bash ../.github/workflows/build_steps.sh test_mjx
+
+    - name: Notify team chat
+      shell: bash
+      env:
+        GCHAT_API_URL: ${{ secrets.GCHAT_API }}
+        JOB_URL: "${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }}"
+        CHATMSG_AUTHOR_NAME: ${{ github.event.head_commit.author.name }}
+        CHATMSG_AUTHOR_EMAIL: ${{ github.event.head_commit.author.email }}
+        CHATMSG_COMMIT_MESSAGE: ${{ github.event.head_commit.message }}
+        CHATMSG_JOB_ID: "ubuntu-24.04-clang-18-mjx"
+      if: failure() && github.ref_name == 'main' && github.event_name == 'push' && env.GCHAT_API_URL != ''
+      run: bash ./.github/workflows/build_steps.sh notify_team_chat

.github/workflows/build_matrix.json

@@ -0,0 +1,90 @@
+{
+  "comment": "Build matrix for build.yml. 'tier' controls when an entry runs: 'core' runs on every pull_request and push; 'extended' runs only on push to main (full compiler sweep). See generate_matrix() in build_steps.sh.",
+  "include": [
+    {
+      "os": "ubuntu-24.04",
+      "label": "ubuntu-24.04-gcc-14",
+      "cmake_args": "-G Ninja -DCMAKE_C_COMPILER:STRING=gcc-14 -DCMAKE_CXX_COMPILER:STRING=g++-14 -DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed",
+      "tmpdir": "/tmp",
+      "tier": "core"
+    },
+    {
+      "os": "ubuntu-24.04",
+      "label": "ubuntu-24.04-gcc-13",
+      "cmake_args": "-G Ninja -DCMAKE_C_COMPILER:STRING=gcc-13 -DCMAKE_CXX_COMPILER:STRING=g++-13 -DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed",
+      "tmpdir": "/tmp",
+      "tier": "extended"
+    },
+    {
+      "os": "ubuntu-22.04",
+      "label": "ubuntu-22.04-gcc-12",
+      "cmake_args": "-G Ninja -DCMAKE_C_COMPILER:STRING=gcc-12 -DCMAKE_CXX_COMPILER:STRING=g++-12 -DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed",
+      "tmpdir": "/tmp",
+      "tier": "core"
+    },
+    {
+      "os": "ubuntu-24.04",
+      "label": "ubuntu-24.04-clang-18",
+      "cmake_args": "-G Ninja -DCMAKE_C_COMPILER:STRING=clang-18 -DCMAKE_CXX_COMPILER:STRING=clang++-18 -DMUJOCO_HARDEN:BOOL=ON",
+      "tmpdir": "/tmp",
+      "tier": "core"
+    },
+    {
+      "os": "ubuntu-24.04",
+      "label": "ubuntu-24.04-clang-17",
+      "cmake_args": "-G Ninja -DCMAKE_C_COMPILER:STRING=clang-17 -DCMAKE_CXX_COMPILER:STRING=clang++-17 -DMUJOCO_HARDEN:BOOL=ON",
+      "tmpdir": "/tmp",
+      "tier": "extended"
+    },
+    {
+      "os": "ubuntu-24.04",
+      "label": "ubuntu-24.04-clang-16",
+      "cmake_args": "-G Ninja -DCMAKE_C_COMPILER:STRING=clang-16 -DCMAKE_CXX_COMPILER:STRING=clang++-16 -DMUJOCO_HARDEN:BOOL=ON",
+      "tmpdir": "/tmp",
+      "tier": "extended"
+    },
+    {
+      "os": "ubuntu-22.04",
+      "label": "ubuntu-22.04-clang-15",
+      "cmake_args": "-G Ninja -DCMAKE_C_COMPILER:STRING=clang-15 -DCMAKE_CXX_COMPILER:STRING=clang++-15 -DMUJOCO_HARDEN:BOOL=ON",
+      "tmpdir": "/tmp",
+      "tier": "extended"
+    },
+    {
+      "os": "ubuntu-22.04",
+      "label": "ubuntu-22.04-clang-14",
+      "cmake_args": "-G Ninja -DCMAKE_C_COMPILER:STRING=clang-14 -DCMAKE_CXX_COMPILER:STRING=clang++-14 -DMUJOCO_HARDEN:BOOL=ON",
+      "tmpdir": "/tmp",
+      "tier": "extended"
+    },
+    {
+      "os": "ubuntu-22.04",
+      "label": "ubuntu-22.04-clang-13",
+      "cmake_args": "-G Ninja -DCMAKE_C_COMPILER:STRING=clang-13 -DCMAKE_CXX_COMPILER:STRING=clang++-13 -DCMAKE_EXE_LINKER_FLAGS:STRING=-rtlib=compiler-rt -DCMAKE_SHARED_LINKER_FLAGS:STRING=-rtlib=compiler-rt -DMUJOCO_HARDEN:BOOL=ON",
+      "tmpdir": "/tmp",
+      "tier": "core"
+    },
+    {
+      "os": "macos-15",
+      "label": "macos-15-arm64",
+      "cmake_args": "-G Ninja -DMUJOCO_HARDEN:BOOL=ON",
+      "tmpdir": "/tmp",
+      "tier": "core"
+    },
+    {
+      "os": "macos-15-large",
+      "label": "macos-15-x86_64",
+      "cmake_args": "-G Ninja -DMUJOCO_HARDEN:BOOL=ON",
+      "tmpdir": "/tmp",
+      "tier": "core"
+    },
+    {
+      "os": "windows-2025",
+      "label": "windows-2025",
+      "cmake_args": "-DCMAKE_SYSTEM_VERSION=\"10.0.26100.0\"",
+      "cmake_build_args": "-- -m",
+      "tmpdir": "C:/Temp",
+      "tier": "core"
+    }
+  ]
+}

.github/workflows/build_steps.sh

@@ -17,6 +17,34 @@
 # consider making the builds parallel.
 
 
+# Wrap the compiler with ccache when it is available (set up by ccache-action in
+# CI). This makes warm rebuilds - including the expensive, pinned Filament build -
+# much faster. ccache is content-addressed on the full compiler invocation, so
+# changing a flag or source forces a recompile: a stale object is never reused.
+# Guarded by `command -v` so the script still works locally without ccache.
+CCACHE_ARGS=""
+if command -v ccache >/dev/null 2>&1; then
+    CCACHE_ARGS="-DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache"
+fi
+
+
+# Emit the build matrix for build.yml as a step output. On pull_request we run
+# only the representative "core" compiler set; on push (e.g. to main) we run the
+# full compiler sweep. Tiers are defined in build_matrix.json.
+generate_matrix() {
+    echo "Generating build matrix for event '${GITHUB_EVENT_NAME}'..."
+    local file=".github/workflows/build_matrix.json"
+    local matrix
+    if [[ "${GITHUB_EVENT_NAME}" == "pull_request" ]]; then
+        matrix="$(jq -c '{include: [.include[] | select(.tier == "core") | del(.tier)]}' "${file}")"
+    else
+        matrix="$(jq -c '{include: [.include[] | del(.tier)]}' "${file}")"
+    fi
+    echo "matrix=${matrix}" >> "${GITHUB_OUTPUT}"
+    echo "${matrix}" | jq .
+}
+
+
 prepare_linux() {
     echo "Preparing Linux..."
     sudo apt-get update && sudo apt-get install \
@@ -43,8 +71,17 @@ prepare_python() {
     ln -s ../Scripts/activate venv/bin/activate
     fi
     source venv/bin/activate
-    python -m pip install --upgrade --require-hashes -r "${repo}/python/build_requirements.txt"
-    python -m pip install --upgrade --require-hashes -r "${repo}/python/build_requirements_usd.txt"
+    # Install build deps with uv when available (set up by setup-uv in CI on
+    # POSIX) - much faster than pip. Fall back to pip otherwise (e.g. Windows,
+    # local dev). The venv is still created by `python -m venv`, so pip stays
+    # available for later steps (pip wheel / python -m build).
+    if command -v uv > /dev/null 2>&1; then
+        uv pip install --require-hashes -r "${repo}/python/build_requirements.txt"
+        uv pip install --require-hashes -r "${repo}/python/build_requirements_usd.txt"
+    else
+        python -m pip install --upgrade --require-hashes -r "${repo}/python/build_requirements.txt"
+        python -m pip install --upgrade --require-hashes -r "${repo}/python/build_requirements_usd.txt"
+    fi
     popd > /dev/null
 }
 
@@ -73,13 +110,22 @@ setup_emsdk() {
 
 configure_mujoco() {
     echo "Configuring MuJoCo..."
+    # Disable IPO/LTO to cut build time. Skip this on Windows: turning off MSVC's
+    # whole-program optimization (/GL) exposes a latent heap corruption in
+    # SetConstTest.SleepingNotAllowed (a real bug worth a separate investigation),
+    # and Windows build time is not a CI bottleneck.
+    local ipo_off="-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF"
+    if [[ "${RUNNER_OS}" == "Windows" ]]; then
+        ipo_off=""
+    fi
     mkdir build &&
     cd build &&
     cmake .. \
         -DCMAKE_BUILD_TYPE:STRING=Release \
-        -DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF \
+        ${ipo_off} \
         -DCMAKE_INSTALL_PREFIX:STRING=${TMPDIR}/mujoco_install \
         -DMUJOCO_BUILD_EXAMPLES:BOOL=OFF \
+        ${CCACHE_ARGS} \
         ${CMAKE_ARGS}
 }
 
@@ -92,7 +138,18 @@ build_mujoco() {
 
 test_mujoco() {
     echo "Testing MuJoCo..."
-    ctest -C Release --output-on-failure .
+    # ctest defaults to serial. The suite is ~1650 independent tests that use
+    # unique temp files (mkstemp / testing::TempDir) and declare no RUN_SERIAL /
+    # RESOURCE_LOCK, so running them in parallel is safe and ~2x faster on POSIX.
+    # Windows is kept serial conservatively: parallel-safety on the Windows file
+    # system is unverified and its test time is not a CI bottleneck.
+    if [[ "${RUNNER_OS}" == "Windows" ]]; then
+        ctest -C Release --output-on-failure .
+    else
+        local ncpu
+        ncpu="$(getconf _NPROCESSORS_ONLN 2>/dev/null || echo "${NUMBER_OF_PROCESSORS:-2}")"
+        ctest -C Release --output-on-failure --parallel "${ncpu}" .
+    fi
 }
 
 
@@ -123,24 +180,28 @@ copy_plugins_window() {
 
 configure_samples() {
     echo "Configuring samples..."
+    # Samples are tiny, so they keep the default IPO/LTO: disabling it saves no
+    # meaningful build time and would expose the same gcc -Werror false positives
+    # that -O3-without-LTO triggers (see configure_mujoco).
     mkdir build &&
     cd build &&
     cmake .. \
         -DCMAKE_BUILD_TYPE:STRING=Release \
-        -DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF \
         -Dmujoco_ROOT:STRING=${TMPDIR}/mujoco_install \
+        ${CCACHE_ARGS} \
         ${CMAKE_ARGS}
 }
 
 
 configure_simulate() {
     echo "Configuring simulate..."
+    # See configure_samples: keep the default IPO/LTO for this small build.
     mkdir build &&
     cd build &&
     cmake .. \
         -DCMAKE_BUILD_TYPE:STRING=Release \
-        -DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF \
         -Dmujoco_ROOT:STRING=${TMPDIR}/mujoco_install \
+        ${CCACHE_ARGS} \
         ${CMAKE_ARGS}
 }
 
@@ -165,6 +226,7 @@ configure_studio() {
         -DMUJOCO_TEST_PYTHON_UTIL=OFF \
         -DMUJOCO_WITH_USD=OFF \
         -DMUJOCO_USE_FILAMENT=ON \
+        ${CCACHE_ARGS} \
         ${CMAKE_ARGS}
     echo "Configuring Studio... DONE"
 }
@@ -186,10 +248,17 @@ make_python_sdist() {
 
 build_python_bindings() {
     echo "Building Python bindings..."
-    source ${TMPDIR}/venv/bin/activate &&
+    source ${TMPDIR}/venv/bin/activate
+    # pip unpacks the sdist into a randomized temp dir every run, so the absolute
+    # source/include paths differ each time and defeat ccache (0% hit, full
+    # recompile). CCACHE_BASEDIR rewrites absolute paths under it to paths relative
+    # to the (also-in-temp) build cwd, cancelling the random component so objects
+    # hash identically across runs. CCACHE_SLOPPINESS ignores timestamp/path noise.
+    export CCACHE_BASEDIR="${TMPDIR}"
+    export CCACHE_SLOPPINESS="time_macros,include_file_mtime,include_file_ctime,pch_defines,locale,system_headers"
     MUJOCO_PATH="${TMPDIR}/mujoco_install" \
     MUJOCO_PLUGIN_PATH="${TMPDIR}/mujoco_install/mujoco_plugin" \
-    MUJOCO_CMAKE_ARGS="-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF ${CMAKE_ARGS}" \
+    MUJOCO_CMAKE_ARGS="-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF ${CCACHE_ARGS} ${CMAKE_ARGS}" \
     pip wheel -v --no-deps mujoco-*.tar.gz
 }
 
@@ -216,6 +285,7 @@ build_test_wasm() {
     emcmake cmake -B build_wasm_mt \
         -DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF \
         -DMUJOCO_WASM_THREADS=ON \
+        ${CCACHE_ARGS} \
         $WASM_CMAKE_ARGS
     cmake --build build_wasm_mt --parallel $(nproc)
 
@@ -230,6 +300,7 @@ build_test_wasm() {
     emcmake cmake -B build_wasm_st \
         -DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF \
         -DMUJOCO_WASM_THREADS=OFF \
+        ${CCACHE_ARGS} \
         $WASM_CMAKE_ARGS
     cmake --build build_wasm_st --parallel $(nproc)
 
@@ -257,8 +328,14 @@ package_mjx() {
 
 install_mjx() {
     echo "Installing MJX..."
-    source ${TMPDIR}/venv/bin/activate &&
-    pip install --require-hashes -r requirements.txt &&
+    source ${TMPDIR}/venv/bin/activate
+    # The MJX requirements (jax, jaxlib, scipy, ...) are a big install; use uv when
+    # available. Keep pip for the local --no-index wheel.
+    if command -v uv > /dev/null 2>&1; then
+        uv pip install --require-hashes -r requirements.txt
+    else
+        pip install --require-hashes -r requirements.txt
+    fi
     pip install --no-index dist/mujoco_mjx-*.whl
 }
 

.github/workflows/lint.yml

@@ -9,10 +9,10 @@ jobs:
     name: pre-commit
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
-      - uses: actions/setup-python@v5
+      - uses: actions/setup-python@v6
         with:
           python-version: "3.12"
       - uses: pre-commit/action@v3.0.1

.github/workflows/live.yml

@@ -14,7 +14,7 @@ jobs:
   build-and-upload-artifacts:
     runs-on: ubuntu-24.04
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
 
     - name: Prepare Linux
       run: bash ./.github/workflows/build_steps.sh prepare_linux

.github/workflows/publish-wasm.yml

@@ -25,10 +25,10 @@ jobs:
       VERSION: ${{ github.event_name == 'workflow_dispatch' && inputs.tag_version || github.ref_name }}
 
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v6
 
     - name: Setup Node.js for WASM bindings
-      uses: actions/setup-node@v4
+      uses: actions/setup-node@v6
       with:
         node-version: '24.x'
 

cmake/MujocoOptions.cmake

@@ -108,7 +108,12 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
   endif()
 endif()
 
-if(NOT CMAKE_INTERPROCEDURAL_OPTIMIZATION AND (CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE STREQUAL "Debug"))
+# Enable interprocedural optimization (LTO) by default for non-Debug builds, but
+# only when the caller has not made an explicit choice. Checking the value (rather
+# than whether it is DEFINED) meant an explicit `-DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF`
+# was silently overridden back to ON, e.g. in CI where LTO is disabled to cut
+# build time.
+if(NOT DEFINED CMAKE_INTERPROCEDURAL_OPTIMIZATION AND (CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE STREQUAL "Debug"))
   set(CMAKE_INTERPROCEDURAL_OPTIMIZATION ON)
 endif()
 

sample/cmake/SampleOptions.cmake

@@ -108,7 +108,12 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
   endif()
 endif()
 
-if(NOT CMAKE_INTERPROCEDURAL_OPTIMIZATION AND (CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE STREQUAL "Debug"))
+# Enable interprocedural optimization (LTO) by default for non-Debug builds, but
+# only when the caller has not made an explicit choice. Checking the value (rather
+# than whether it is DEFINED) meant an explicit `-DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF`
+# was silently overridden back to ON, e.g. in CI where LTO is disabled to cut
+# build time.
+if(NOT DEFINED CMAKE_INTERPROCEDURAL_OPTIMIZATION AND (CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE STREQUAL "Debug"))
   set(CMAKE_INTERPROCEDURAL_OPTIMIZATION ON)
 endif()
 

simulate/cmake/SimulateOptions.cmake

@@ -108,7 +108,12 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
   endif()
 endif()
 
-if(NOT CMAKE_INTERPROCEDURAL_OPTIMIZATION AND (CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE STREQUAL "Debug"))
+# Enable interprocedural optimization (LTO) by default for non-Debug builds, but
+# only when the caller has not made an explicit choice. Checking the value (rather
+# than whether it is DEFINED) meant an explicit `-DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF`
+# was silently overridden back to ON, e.g. in CI where LTO is disabled to cut
+# build time.
+if(NOT DEFINED CMAKE_INTERPROCEDURAL_OPTIMIZATION AND (CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE STREQUAL "Debug"))
   set(CMAKE_INTERPROCEDURAL_OPTIMIZATION ON)
 endif()
 

src/xml/xml_native_writer.cc

@@ -97,7 +97,7 @@ static string WriteDoc(XMLDocument& doc, char *error, size_t error_sz) {
 
       // insert another newline
       if (line_pos != string::npos) {
-        str.insert(line_pos + 1, "\n");
+        str.insert(line_pos + 1, 1, '\n');
         pos++;  // account for inserted newline
       }
 

src/xml/xml_util.cc

@@ -1165,7 +1165,8 @@ void mjXUtil::WriteAttrKeys(XMLElement* elem, std::string name, const mjMap* map
 
   std::string text = FindValue(map, mapsz, data[0]);
   for (int i = 1; i < ndata; ++i) {
-    text += " " + FindValue(map, mapsz, data[i]);
+    text += " ";
+    text += FindValue(map, mapsz, data[i]);
   }
 
   WriteAttrTxt(elem, name, text);