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Use Clang to build MJX #534

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Use Clang to build MJX #534

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1d434b7
Pin mjc-mpc
DwarKapex Feb 12, 2024
ba1d0d3
Use Clang as a compiler
DwarKapex Feb 12, 2024
5dd8ed3
Use Clang as a compiler
DwarKapex Feb 12, 2024
cf821d9
Separate compilation
DwarKapex Feb 13, 2024
8239fe5
Merge remote-tracking branch 'origin/main' into pin-mjc-mpc
DwarKapex Feb 13, 2024
27abf3e
Separate compilation: debug
DwarKapex Feb 13, 2024
8fb9445
Build nightly jax from concrete base
DwarKapex Feb 14, 2024
94f0f25
Build via sandbox
DwarKapex Feb 14, 2024
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8 changes: 7 additions & 1 deletion .github/container/Dockerfile.mjx
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,8 @@ ARG BASE_IMAGE=ghcr.io/nvidia/jax:mealkit
ARG SRC_PATH_MUJOCO=/opt/mujoco
ARG SRC_PATH_MUJOCO_MPC=/opt/mujoco-mpc
ARG SRC_PATH_L2R=/opt/language-to-reward-2023

ARG CC=/usr/bin/clang
ARG CXX=/usr/bin/clang++

###############################################################################
## Download source and add auxiliary scripts
Expand All @@ -14,6 +15,11 @@ FROM ${BASE_IMAGE} as mealkit
ARG SRC_PATH_MUJOCO
ARG SRC_PATH_MUJOCO_MPC
ARG SRC_PATH_L2R
ARG CC
ARG CXX

ENV CC=${CC}

@yhtang yhtang Feb 13, 2024

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Instead of enforcing the compiler toolchain globally, can we set it only for the MPC installation step?

ENV CXX=${CXX}

# Install system dependencies for Mujuco/MPC
RUN <<"EOF" bash -ex
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2 changes: 1 addition & 1 deletion .github/container/manifest.yaml
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Expand Up @@ -135,7 +135,7 @@ mujoco:
mujoco-mpc:
url: https://github.com/google-deepmind/mujoco_mpc.git
tracking_ref: main
latest_verified_commit: 73633d7da1900c428a7315d2ffe1120c5393a7d8
latest_verified_commit: c5c7ead065b7f4034ab265a13023231900dbfaa7
mode: git-clone
language-to-reward-2023:
url: https://github.com/google-deepmind/language_to_reward_2023.git
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