Add a single-precision job to GitHub CI - #3448
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The organization-level zizmor scanner gates workflow changes and requires hash-pinned action references (unpinned-uses, blanket policy). It also flags the one remaining inline template expansion in a run block (template-injection): the samples build step. Pin all third-party actions to the commit hashes of their current tags, and pass the samples build arguments through the environment under an explicit bash shell, matching every other build step. No version changes: each hash is the commit its existing tag points to.
The GitHub build matrix only tests double precision, so pull requests that break single-precision (mjUSESINGLE) builds or tests look green on GitHub and only fail on internal import. Add a dedicated `single` job: one fast configuration (ubuntu / clang-18) that builds the library and test suite with -DmjUSESINGLE and runs the C/C++ tests.
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The GitHub Actions matrix builds only double precision, so changes that break
mjUSESINGLEbuilds or tests pass CI, and the breakage is only discovered downstream.This adds a dedicated
singlejob (ubuntu-24.04, clang-18) that builds the library and test suite with-DmjUSESINGLEand runs ctest. One fast configuration is enough to catch the common breakages (mjtNum-vs-doubletype confusion, tests without single-precision tolerances); the job runs in parallel with the rest of the workflow, so total wall-clock time is unchanged.The first commit is mechanical, required by the org-level zizmor gate that scans any PR touching workflow files: it pins all third-party actions in build.yml to the commit hashes of their current tags (no version changes), and routes the one remaining inline
${{ matrix.* }}expansion in a run block (the samples build step) through the environment, matching every other build step.Notes:
mjUSESINGLEdefine is passed viaCMAKE_C_FLAGS/CMAKE_CXX_FLAGSso thatMujocoDependencies.cmakealso builds libccd in single precision.mjUSESINGLEguards; 8m46s with a cold cache.