Kevin Zakka
1aaced190a
-- 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
58 lines
1.4 KiB
YAML
58 lines
1.4 KiB
YAML
name: live
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on:
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push:
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branches:
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- live
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permissions:
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contents: read
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pages: write
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id-token: write
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jobs:
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build-and-upload-artifacts:
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runs-on: ubuntu-24.04
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steps:
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- uses: actions/checkout@v6
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- name: Prepare Linux
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run: bash ./.github/workflows/build_steps.sh prepare_linux
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- name: Setup Emscripten
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run: bash ./.github/workflows/build_steps.sh setup_emsdk
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- name: Build MuJoCo Live
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env:
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CC: clang-18
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CXX: clang++-18
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run: bash ./.github/workflows/build_steps.sh build_mujoco_live
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- name: Prepare files for GitHub Pages
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run: |
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mkdir -p dist/bin
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cp -r build_wasm/bin/* dist/bin/
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cp src/experimental/studio/live.html dist/index.html
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cp src/experimental/studio/live.css dist/live.css
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cp src/experimental/studio/live.js dist/live.js
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COMMIT_HASH=$(git rev-parse HEAD 2>/dev/null || true)
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if [ -n "$COMMIT_HASH" ]; then
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sed -i "s/__COMMIT_HASH_PLACEHOLDER__/$COMMIT_HASH/g" dist/index.html
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fi
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- name: Upload GitHub Pages artifacts
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uses: actions/upload-pages-artifact@v3
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with:
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path: dist
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deploy-pages:
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needs: build-and-upload-artifacts
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runs-on: ubuntu-latest
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environment:
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name: github-pages
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url: ${{ steps.deployment.outputs.page_url }}
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steps:
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- name: Deploy to GitHub Pages
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id: deployment
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uses: actions/deploy-pages@v4
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