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
Simulate App
simulate is a fully-featured interactive application for MuJoCo. It opens an
OpenGL window using the platform-independent GLFW library, and renders the
simulation state in it. There is built-in help, simulation statistics, profiler,
sensor data plots. The model file can be specified as a command-line argument,
or loaded at runtime using drag-and-drop functionality. Below is a
screen-capture of simulate in action:
