feat: Add mujoco_ci_camera_resolution input to cap render cost on CI#23
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feat: Add mujoco_ci_camera_resolution input to cap render cost on CI#23davetcoleman wants to merge 1 commit into
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Mirrors the existing mujoco_ci_timestep override: when set, rewrites every existing <camera ... resolution="..."> attribute under src/ to the supplied "WIDTH HEIGHT" value before build. Used to keep perception-heavy integration tests under their timeout when production scenes use high-resolution cameras (e.g. 1280x720 to match the picknik_accessories ur5e wrist_camera). Cameras without an existing resolution= attribute are left alone (URDF cameras). The scene's <global offwidth offheight> is untouched -- the load- time constraint is global >= max(camera), so shrinking cameras alone is safe.
davetcoleman
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The 1280x720 camera bump in the previous commit ~3x's per-frame render cost, pushing lab_sim's objectives_integration_test from a ~388s baseline past its 600s timeout on CI runners. Use the new mujoco_ci_camera_resolution input from PickNikRobotics/moveit_pro_ci#23 to rewrite every <camera resolution> to 640x480 at build time, leaving the production scene files (and the load-time <global offwidth offheight> check) untouched. Pinned to the PR's branch HEAD for now -- repin to v0.2.2 once that PR merges and tags.
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JWhitleyWork
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May 21, 2026
The 1280x720 camera bump in the previous commit ~3x's per-frame render cost, pushing lab_sim's objectives_integration_test from a ~388s baseline past its 600s timeout on CI runners. Use the new mujoco_ci_camera_resolution input from PickNikRobotics/moveit_pro_ci#23 to rewrite every <camera resolution> to 640x480 at build time, leaving the production scene files (and the load-time <global offwidth offheight> check) untouched. Pinned to the PR's branch HEAD for now -- repin to v0.2.2 once that PR merges and tags.
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Summary
Mirrors the existing
mujoco_ci_timestepoverride: adds amujoco_ci_camera_resolutionworkflow input that, when set, rewrites every existing<camera ... resolution="...">attribute undersrc/to the supplied"WIDTH HEIGHT"value before build.Motivation
PickNikRobotics/moveit_pro_example_ws#648 standardizes the workspace's MuJoCo
<global offwidth offheight>to 1280×720 (forced bypicknik_accessories's ur5e wrist_camera being 1280×720) and bumps the per-config<camera>resolutions to match. The ~3× pixel increase pushedlab_sim'sobjectives_integration_testpast its 600s timeout on CI runners (baseline on main: 388s; this PR: >600s timeout, Exit CodeTimeout).The product change is intentional — the high-resolution global is required at load time, and 1280×720 cameras are what users will run with. CI just needs a way to render at lower fidelity to stay under timeout. This input is the camera-resolution analog of
mujoco_ci_timestep.Behavior
mujoco_ci_camera_resolution: "WIDTH HEIGHT"(string, default""). Empty → no-op.\d+\s+\d+and rejects non-positive ints.src/**/*.xml. For each file, rewrites every<camera ... resolution="...">(single- or double-quoted, multi-line tag OK) to the supplied value. Leaves cameras without an existingresolution=alone (URDF cameras have non-MuJoCo<sensor>syntax).mujoco_ci_timestep).<global offwidth offheight>untouched. The load-time constraint isglobal >= max(camera), so shrinking cameras alone is sufficient and safe.Dry-run against PickNikRobotics/moveit_pro_example_ws#648's worktree: 21 files / 25 cameras patched, including
picknik_accessories/.../ur5e.xml's wrist_camera and thephoebe_wssubmodule. No false positives.Caveat
The blanket override will also rewrite
space_satellite_sim_camera_cal's intentional 1920×1080 calibration cameras. There is no integration test for that config today, so this is fine; if one is added later it should opt out by reading the resolution from env in the test.Rollout
Consumed by PickNikRobotics/moveit_pro_example_ws#648 (pins to this branch's HEAD SHA pending v0.2.2 release).