- Added "Info" and "Profiler" to the "View" menu.
- Deleted the obsolete "Charts" menu entirely
- Removed the "Stats" toggle item from the "Help" menu.
PiperOrigin-RevId: 935314037
Change-Id: I01ee30cbba5c1b4aa54c2940b0265401cc965c07
Also:
- Packages MuJoCo Studio as MuJoCoStudio.app in the MuJoCo.dmg.
- Fixes a Filament compile issue.
- Patches libwebp to fix compile error related to universal builds and forces
it to build as static.
- Removes the separate, obsolete "build_studio" step.
PiperOrigin-RevId: 934564785
Change-Id: I50c83283b5e138062e37d53926a5a77fdf99dbfa
For example when loading parent_merge.xml:
```
WARNING: Attach conflict when attaching 'child' to 'parent_merge', policy is 'merge'
timestep: parent has 0.005, child has 0.002, taking the minimum
iterations: parent has 50, child has 100, taking the maximum
flag 'Damper': added from child
```
When loading parent_error.xml:
```
XML Error: Attach conflict when attaching 'child' to 'parent_error', policy is 'error'
timestep: parent has 0.005, child has 0.002
iterations: parent has 50, child has 100
Element 'attach', line 10
```
PiperOrigin-RevId: 933620810
Change-Id: Ib477863b5ef763474d27fb4be5a4148be1d5d500
Compiler warnings are now accumulated in a vector of strings within the mjSpec object. New API functions `mjs_numWarnings` and `mjs_getWarning` are added to access these warnings. The compiler's log handler now chains warnings to the global log handler, ensuring they are still displayed immediately. Call sites in `mj_loadXML`, `mj_compile`, and the Python and WASM bindings have been updated to use the new warning API.
PiperOrigin-RevId: 933361650
Change-Id: I47cab98a460c57b0898c0a1a43fce2a5b9648eb1
Widen snprintf buffer from 1024 to 2048 bytes in mju_defaultLogHandler
to avoid truncation warning when formatting "func: subject".
PiperOrigin-RevId: 930823501
Change-Id: I0b2246f23c44e983bea76976b684d2efdfdff29c
Also:
- renames the main header file to mjrfilament.h.
- moves filament_util under a "support" folder.
PiperOrigin-RevId: 930448415
Change-Id: Iad89756aaf1ddf4c3e67e1afc3a13776f71fa20f
--
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
Corrected the comparison from `max_window_width != window_height_` to `max_window_height != window_height_` when checking if the window dimensions have changed.
PiperOrigin-RevId: 929825452
Change-Id: I4ae46502495e16f86c19d4efabe8c048d708789b
When an mjpResourceProvider's open callback returns 0 (failure), MuJoCo does
not invoke the corresponding close callback. Previously, several resource
provider implementations allocated heap memory or system file handles before
encountering an error, failing to clean them up before returning 0. This change addresses these leaks across the codebase and clarifies the API contract.
PiperOrigin-RevId: 929803942
Change-Id: Ib7344033726895cdf037a8d9356ffc183c78c2d3
Use the jump flood algorithm to render an outline around selected
objects. This requires using custom post-processing shaders and
render passes which is managed by a new "Outliner" class.
PiperOrigin-RevId: 929212147
Change-Id: Ie6f475c7c677df7b0d4fc030a8e9520ff9dd03af
Yuval Tassa