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CI: drop system_headers from Python-binding ccache sloppiness

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CMake adds the imported mujoco target's include dir as -isystem, so with
system_headers sloppiness ccache stopped hashing the public MuJoCo headers.
A header-only change (new mjData field, new enum value) then went undetected
and ccache reused objects compiled against the old struct layout, yielding an
ABI-mismatched binding: wrong field offsets (garbage in struct/pickle tests),
stale mjENABLESTRING/mjNENABLE, and mjSpec-vs-mjData signature mismatches.

Removing system_headers makes ccache hash these headers and recompile on
change. The mtime/ctime flags stay (they absorb pip's per-run temp-dir churn
without affecting content detection).
This commit is contained in:
Kevin Zakka
2026-06-16 23:45:18 -07:00
parent 55c6332f20
commit ffd95cf656
1 changed files with 10 additions and 1 deletions
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.github/workflows/build_steps.sh
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@@ -254,8 +254,17 @@ build_python_bindings() {
# 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.
#
# Do NOT add system_headers here: CMake adds the imported mujoco target's
# include dir (MUJOCO_PATH/include) as -isystem, so ccache would treat the
# public MuJoCo headers as system headers and skip hashing them. A change that
# lives only in those headers (a new mjData field, a new enum value) would then
# go undetected and ccache would reuse an object compiled against the old struct
# layout, producing an ABI-mismatched binding (wrong field offsets, stale
# mjNENABLE, signature mismatch). The mtime/ctime flags are kept: they handle the
# temp-dir churn without affecting header content detection.
export CCACHE_BASEDIR="${TMPDIR}"
export CCACHE_SLOPPINESS="time_macros,include_file_mtime,include_file_ctime,pch_defines,locale,system_headers"
export CCACHE_SLOPPINESS="time_macros,include_file_mtime,include_file_ctime,pch_defines,locale"
MUJOCO_PATH="${TMPDIR}/mujoco_install" \
MUJOCO_PLUGIN_PATH="${TMPDIR}/mujoco_install/mujoco_plugin" \
MUJOCO_CMAKE_ARGS="-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF ${CCACHE_ARGS} ${CMAKE_ARGS}" \