cleanup: drop unrelated build/docs tweaks

Author: jslee02

CMakeLists.txt

@@ -358,9 +358,17 @@ if(NOT CMAKE_CONFIGURATION_TYPES)
 endif()
 string(TOUPPER "${CMAKE_BUILD_TYPE}" CMAKE_BUILD_TYPE_UPPERCASE)
 
-set(_dart_is_debug FALSE)
+set(DART_BUILD_MODE_DEBUG FALSE)
+set(DART_BUILD_MODE_RELEASE FALSE)
+
 if("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "DEBUG")
-  set(_dart_is_debug TRUE)
+  set(DART_BUILD_MODE_DEBUG TRUE)
+elseif("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "RELEASE")
+  set(DART_BUILD_MODE_RELEASE TRUE)
+elseif("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "RELWITHDEBINFO")
+  set(DART_BUILD_MODE_RELEASE TRUE)
+elseif("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "MINSIZEREL")
+  set(DART_BUILD_MODE_RELEASE TRUE)
 endif()
 
 # Active log level:
@@ -372,19 +380,18 @@ endif()
 # - ERROR: To enable log with DART_ERROR() and below
 # - FATAL: To enable log with DART_FATAL()
 # - OFF: To turn off all the logs
-if(_dart_is_debug)
+if(DART_BUILD_MODE_DEBUG)
   set(DART_ACTIVE_LOG_LEVEL "DEBUG" CACHE STRING "Compile time active log level to enable")
 else()
   set(DART_ACTIVE_LOG_LEVEL "INFO" CACHE STRING "Compile time active log level to enable")
 endif()
 set_property(CACHE DART_ACTIVE_LOG_LEVEL PROPERTY STRINGS TRACE DEBUG INFO WARN ERROR FATAL OFF)
 
-set(_dart_warnings_as_errors_default OFF)
-if(NOT _dart_is_debug)
-  set(_dart_warnings_as_errors_default ON)
+if(DART_BUILD_MODE_DEBUG)
+  option(DART_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" OFF)
+else()
+  option(DART_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" ON)
 endif()
-option(DART_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" ${_dart_warnings_as_errors_default})
-unset(_dart_warnings_as_errors_default)
 
 option(DART_BUILD_WHEELS "Indicate building dartpy for wheels" OFF)
 
@@ -607,6 +614,12 @@ add_subdirectory(dart)
 
 if(DART_BUILD_DART8)
   add_subdirectory(dart8)
+
+  if(MSVC)
+    add_subdirectory(tests_dart8)
+  else()
+    add_subdirectory(tests_dart8 EXCLUDE_FROM_ALL)
+  endif()
 endif()
 
 set(DART_IN_SOURCE_BUILD TRUE)
@@ -623,13 +636,12 @@ if(TARGET dart)
     endif()
 
     if(DART_BUILD_DART8)
-      if(MSVC)
-        add_subdirectory(tests_dart8)
-      else()
-        add_subdirectory(tests_dart8 EXCLUDE_FROM_ALL)
+      if(NOT EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/tests_dart8/CMakeLists.txt")
+        if(NOT TARGET dart8_tests)
+          add_custom_target(dart8_tests)
+        endif()
       endif()
     endif()
-
   elseif(NOT DART_BUILD_TESTS)
     message(STATUS "Skipping tests (DART_BUILD_TESTS == OFF)")
   else()

cmake/dart8_defs.cmake

@@ -488,7 +488,6 @@ function(dart8_add_unit_test_dir MODULE_NAME MODULE_DIR)
   # Create meta target for this module
   add_custom_target(dart8_tests_${MODULE_NAME}
     DEPENDS ${module_test_targets}
-    COMMAND ${CMAKE_COMMAND} -E echo "Built DART8 ${MODULE_NAME} unit tests."
     COMMENT "Building DART8 ${MODULE_NAME} tests"
   )
 

dart/config.hpp.in

@@ -63,6 +63,10 @@
   #define DART_COMPILER_MSVC
 #endif
 
+// Indicates the build mode used for compiling
+#cmakedefine01 DART_BUILD_MODE_DEBUG
+#cmakedefine01 DART_BUILD_MODE_RELEASE
+
 #cmakedefine01 DART_HAVE_BULLET
 #cmakedefine01 DART_HAVE_ODE
 #cmakedefine01 DART_HAVE_OCTOMAP

dart/utils/mjcf/MjcfParser.cpp

@@ -34,12 +34,9 @@
 
 #include "dart/collision/All.hpp"
 #include "dart/common/All.hpp"
-#include "dart/common/Diagnostics.hpp"
 #include "dart/common/Macros.hpp"
 #include "dart/config.hpp"
-DART_SUPPRESS_DEPRECATED_BEGIN
 #include "dart/constraint/All.hpp"
-DART_SUPPRESS_DEPRECATED_END
 #include "dart/dynamics/All.hpp"
 #include "dart/utils/CompositeResourceRetriever.hpp"
 #include "dart/utils/DartResourceRetriever.hpp"

docs/README.md

@@ -16,6 +16,7 @@ Located in `onboarding/` - **Architecture guides for developers:**
 - [Core Architecture](onboarding/architecture.md) - Deep dive into simulation engine internals
 - [Aspect System](onboarding/aspect-system.md) - Aspect/State/Properties design and implementation
 - [Dynamics System](onboarding/dynamics.md) - Articulated body system and kinematics
+- [Constraint Solver](onboarding/constraints.md) - Constraint resolution and collision response
 - [GUI & Rendering](onboarding/gui-rendering.md) - OpenSceneGraph integration details
 - [Python Bindings](onboarding/python-bindings.md) - nanobind bindings architecture
 - [Build System](onboarding/build-system.md) - CMake internals and dependency analysis

docs/dev_tasks/README.md

@@ -25,7 +25,7 @@ Documentation for development tasks in DART.
 
 **When task is completed**:
 
-1. **Add brief section** to existing `docs/onboarding/` file (avoid adding new standalone files when a section fits in an existing doc)
+1. **Add brief section** to existing `docs/onboarding/` file (e.g., add to constraints.md, not new file)
 2. **Remove the entire task folder** from `docs/dev_tasks/`
 3. **Keep onboarding docs concise** - too many docs make them hard to use effectively
 

docs/onboarding/README.md

@@ -49,6 +49,7 @@ This onboarding guide is organized into several focused documents:
 - **[ci-cd.md](ci-cd.md)** - CI/CD workflows, caching strategies, and performance optimization
 - **[architecture.md](architecture.md)** - Deep dive into DART's simulation core
 - **[dynamics.md](dynamics.md)** - Articulated body system and kinematics
+- **[constraints.md](constraints.md)** - Constraint resolution and collision response
 - **[gui-rendering.md](gui-rendering.md)** - OpenSceneGraph integration details
 - **[python-bindings.md](python-bindings.md)** - nanobind bindings architecture
 - **[api-documentation.md](api-documentation.md)** - Publishing strategy for RTD and GitHub Pages API docs

docs/onboarding/ci-cd.md

@@ -10,18 +10,12 @@ DART uses GitHub Actions for continuous integration and deployment. The CI syste
   - Local build/test entry points: [building.md](building.md) and [testing.md](testing.md)
   - Gazebo / gz-physics workflow: [build-system.md](build-system.md#gazebo-integration-feature)
   - PR template checklist: [`.github/PULL_REQUEST_TEMPLATE.md`](../../.github/PULL_REQUEST_TEMPLATE.md)
-- Used in this task:
-  - `git status -sb`
-  - `gh pr list --head "$(git branch --show-current)" --json number,title,state,url,headRefName`
-  - `gh pr status`
-- Suggested (Unverified):
-  - `gh pr checks <pr_number>`
-  - `gh pr checks <pr_number> --watch --interval 30 --fail-fast`
-  - `gh run view <run_id> --job <job_id> --log-failed`
-- Gotchas (encountered in this task):
-  - `gh pr status --json ...` can error with `Unknown JSON field: ...` if you request unsupported fields; use `gh pr status` (no JSON) or `gh pr view --json ...`. In this task, `gh pr status --json currentBranch,createdBy,needsReview,reviewRequests,statusCheckRollup` failed with `Unknown JSON field: "currentBranch"`.
-  - `gh pr checks` may show duplicate entries when workflows run for both `push` and `pull_request` events; compare the run URLs and focus on the newest one.
-  - zsh can produce `parse error near '}'` if a `gh ... --jq` expression containing `{ ... }` isn't fully quoted; wrap the whole jq program in single quotes.
+- Fast CI fail-fast loop:
+  - Suggested (Unverified): `gh pr checks <PR_NUMBER> --watch --interval 30 --fail-fast`
+  - Suggested (Unverified): `gh run view --job <JOB_ID> --log-failed`
+- Gotchas (observed in this task):
+  - On some Linux runners (especially self-hosted), `sccache` can fail during CMake `try_compile` with `sccache: error: while hashing the input file ... No such file or directory (os error 2)`.
+  - On macOS, `mozilla-actions/[email protected]` can fail with transient network errors like `HttpError: Connect Timeout Error`. Our `.github/workflows/ci_macos.yml` treats "Setup sccache" as best-effort (`continue-on-error: true`) so the job continues without sccache.
 - If `CI gz-physics` fails, reproduce locally with the Gazebo workflow in [build-system.md](build-system.md#gazebo-integration-feature).
 
 ## Workflow Architecture
@@ -83,16 +77,7 @@ jobs all share the same configuration**. You can disable auto-detection with
     disable_annotations: true
 
 - name: Configure environment for compiler cache
-  run: |
-    echo "SCCACHE_GHA_ENABLED=true" >> $GITHUB_ENV
-    echo "DART_COMPILER_CACHE=sccache" >> $GITHUB_ENV
-    echo "CMAKE_C_COMPILER_LAUNCHER=sccache" >> $GITHUB_ENV
-    echo "CMAKE_CXX_COMPILER_LAUNCHER=sccache" >> $GITHUB_ENV
-    echo "CCACHE_BASEDIR=${GITHUB_WORKSPACE}" >> $GITHUB_ENV
-    echo "CCACHE_DIR=${RUNNER_TEMP}/ccache" >> $GITHUB_ENV
-    echo "CCACHE_COMPRESS=true" >> $GITHUB_ENV
-    echo "CCACHE_MAXSIZE=5G" >> $GITHUB_ENV
-    mkdir -p "${RUNNER_TEMP}/ccache"
+  uses: ./.github/actions/configure-compiler-cache
 ```
 
 **Windows setup** (see `.github/workflows/ci_windows.yml`):
@@ -107,9 +92,15 @@ jobs all share the same configuration**. You can disable auto-detection with
   shell: powershell
   run: |
     echo "SCCACHE_GHA_ENABLED=true" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
+    echo "SCCACHE_NO_DAEMON=1" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
     echo "DART_COMPILER_CACHE=sccache" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
-    echo "CMAKE_C_COMPILER_LAUNCHER=sccache" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
-    echo "CMAKE_CXX_COMPILER_LAUNCHER=sccache" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
+    if ($env:SCCACHE_PATH) {
+      echo "CMAKE_C_COMPILER_LAUNCHER=$env:SCCACHE_PATH" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
+      echo "CMAKE_CXX_COMPILER_LAUNCHER=$env:SCCACHE_PATH" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
+    } else {
+      echo "CMAKE_C_COMPILER_LAUNCHER=sccache" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
+      echo "CMAKE_CXX_COMPILER_LAUNCHER=sccache" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
+    }
     $ccacheDir = Join-Path $env:RUNNER_TEMP "ccache"
     New-Item -ItemType Directory -Force -Path $ccacheDir | Out-Null
     echo "CCACHE_BASEDIR=$env:GITHUB_WORKSPACE" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
@@ -127,6 +118,11 @@ directly or via `pixi`. pixi still forwards `CMAKE_*_COMPILER_LAUNCHER` to any
 external CMake projects it drives (e.g., gz-physics) so nested builds benefit
 from the same cache.
 
+#### CI reliability notes
+
+- The `.github/actions/configure-compiler-cache` action may disable the sccache launcher on some Linux runners (e.g., self-hosted or non-Ubuntu) and fall back to `ccache` when available (otherwise `env`) to avoid flaky `try_compile` failures.
+- In `.github/workflows/ci_macos.yml`, the "Setup sccache" step is best-effort (`continue-on-error: true`) so transient download timeouts don't fail the job.
+
 ## MSVC Multi-Core Compilation
 
 **Critical configuration** (`CMakeLists.txt` line 282-284):
@@ -260,15 +256,6 @@ All tests run through `pixi run test-all`, which includes:
 
 ## Monitoring and Maintenance
 
-### Watching runs from the CLI
-
-- List recent runs: `gh run list --branch <branch> --limit 10`
-- Watch a run: `gh run watch <run-id> --interval 30 --compact --exit-status`
-- View failed logs: `gh run view <run-id> --log-failed`
-
-Note: `gh run watch` exits only after the entire workflow run completes; it does
-not stop immediately when the first job fails.
-
 ### Expected CI Times
 
 **Without caching (first run):**
@@ -315,19 +302,26 @@ not stop immediately when the first job fails.
 
 ### Monitoring and Debugging from the GitHub CLI
 
-#### Branch / PR Recon (used in this task)
+#### Branch / PR Recon
+
+Suggested (Unverified):
 
 ```bash
-git rev-parse --show-toplevel
 git status -sb
-git branch -vv
-git remote -v
-git log -20 --oneline --decorate
-git diff --stat
-git stash list
+git fetch origin
+git rev-list --left-right --count HEAD...origin/main
 ```
 
-Map the current branch to a PR (used in this task):
+Example (used in this task):
+
+```bash
+git rev-parse --show-toplevel
+git status --porcelain=v1 -b
+git fetch origin
+git rev-list --left-right --count HEAD...origin/main
+```
+
+Map the current branch to a PR (Suggested (Unverified)):
 
 ```bash
 gh pr list --head "$(git branch --show-current)" --json number,title,state,url,headRefName
@@ -339,51 +333,40 @@ gh pr view --json number,title,url,state,baseRefName,headRefName,author,labels,b
 Suggested (Unverified):
 
 ```bash
-gh pr status
-gh pr checks <pr_number>
-gh pr view <pr_number> --json reviewDecision,latestReviews,reviewRequests,state,isDraft,mergeable,mergeStateStatus,statusCheckRollup
+gh run list --branch <BRANCH> -e pull_request -L 20
+gh run watch <RUN_ID> --interval 30
+gh run view --job <JOB_ID> --log-failed
+gh pr checks <PR_NUMBER>
 ```
 
 Example (used in this task):
 
 ```bash
-gh pr checks 2298
-gh pr view 2298 --json reviewDecision,latestReviews,reviewRequests,state,isDraft,mergeable,mergeStateStatus,statusCheckRollup
+gh run list --branch fix/dartpy-bindings-cleanup -e pull_request -L 20
+gh run watch 20345022400 --interval 30
+gh run view --job 58403655163 --log-failed
+gh api repos/dartsim/dart/actions/jobs/58403655163 --jq '{id: .id, status: .status, conclusion: .conclusion, runner_name: .runner_name, runner_group: .runner_group_name, labels: .labels, started_at: .started_at, completed_at: .completed_at}'
+gh pr checks 2328
 ```
 
-Inspect logs for a failing job:
-
-Suggested (Unverified):
+If a job behaves differently than expected, confirm which runner actually executed it (Suggested (Unverified)):
 
 ```bash
-gh run view <run_id> --job <job_id> --log-failed
-```
-
-Example (used in this task):
-
-```bash
-gh run view 20275198109 --job 58221775555 --log-failed
-gh run view 20275198456 --job 58221776649 --log-failed
+gh api repos/<ORG>/<REPO>/actions/jobs/<JOB_ID> --jq '{id: .id, status: .status, conclusion: .conclusion, runner_name: .runner_name, runner_group: .runner_group_name, labels: .labels, started_at: .started_at, completed_at: .completed_at}'
 ```
 
 If `--log-failed` is missing context, list job step outcomes first:
 
 Suggested (Unverified):
 
 ```bash
-gh run view <run_id> --json jobs --jq '.jobs[] | select(.databaseId==<job_id>) | {steps:[.steps[] | {name: .name, conclusion: .conclusion}]}'
-```
-
-Example (used in this task):
-
-```bash
-gh run view 20275198109 --json jobs --jq '.jobs[] | select(.databaseId==58221775555) | {steps:[.steps[] | {name: .name, conclusion: .conclusion}]}'
+gh run view <RUN_ID> --json jobs --jq '.jobs[] | select(.databaseId==<JOB_ID>) | {steps:[.steps[] | {name: .name, conclusion: .conclusion}]}'
 ```
 
 Suggested (Unverified):
 
 ```bash
-gh pr checks <pr_number> --watch --interval 30 --fail-fast
+gh pr checks <PR_NUMBER> --watch --interval 30 --fail-fast
 ```
 
 Notes:
@@ -420,6 +403,24 @@ Notes:
 - Add dependency tracking to cache key (e.g., hash of `pixi.lock`)
 - Run full clean build on schedule to catch issues
 
+### sccache Failures and Flakiness
+
+**Symptoms:**
+
+- CMake `try_compile` fails with `sccache: error: while hashing the input file ... No such file or directory (os error 2)`
+- The "Setup sccache" workflow step fails with `HttpError: Connect Timeout Error` (usually transient)
+
+**What to check:**
+
+1. Whether the job ran on a self-hosted runner vs GitHub-hosted (see the runner metadata snippet in [CI Triage](#ci-triage))
+2. Whether `.github/actions/configure-compiler-cache` disabled sccache and selected `ccache` (or `env` if unavailable) (look for its stderr messages and `DART_COMPILER_CACHE` in logs)
+3. If this only happens on CI, treat sccache as optional and focus on correctness first; caching should not be required to pass CI
+
+**Related files:**
+
+- `.github/actions/configure-compiler-cache/action.yml`
+- `.github/workflows/ci_macos.yml`
+
 ### Platform-Specific Issues
 
 **Debug-only failures:**