From ff4a5673f8bde00049baadcdcb10977404d51d23 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 11 May 2026 05:25:09 -0700
Subject: [PATCH] Delete testspeed_test.sh

This shell test was extremely slow (taking up to 26 minutes under ASAN). In any case the compilation pipeline takes one kick-the-tires step, so the RecompileCompare test effectively does the same thing.

PiperOrigin-RevId: 913646840
Change-Id: If659705b88d0ac64722f88ddf2ae377932e5ef0f
---
 test/sample/CMakeLists.txt    |  1 -
 test/sample/testspeed_test.sh | 91 -----------------------------------
 2 files changed, 92 deletions(-)
 delete mode 100755 test/sample/testspeed_test.sh

diff --git a/test/sample/CMakeLists.txt b/test/sample/CMakeLists.txt
index 0d1061e3..15f87dc2 100644
--- a/test/sample/CMakeLists.txt
+++ b/test/sample/CMakeLists.txt
@@ -16,5 +16,4 @@ if(MUJOCO_BUILD_EXAMPLES)
   include(ShellTests)
 
   add_mujoco_shell_test(compile_test compile)
-  add_mujoco_shell_test(testspeed_test testspeed)
 endif()
diff --git a/test/sample/testspeed_test.sh b/test/sample/testspeed_test.sh
deleted file mode 100755
index 79d6c8c5..00000000
--- a/test/sample/testspeed_test.sh
+++ /dev/null
@@ -1,91 +0,0 @@
-#!/bin/bash
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-MODEL_DIRS=(
-  "${CMAKE_SOURCE_DIR}/model"
-  "${CMAKE_SOURCE_DIR}/test"
-)
-
-die() { echo "$*" 1>&2 ; exit 1; }
-
-test_model() {
-  local EXPECTED_STR='Simulation time'
-  local model="$1"
-  echo "Testing $model" >&2
-
-  local iterations=10
-  # for particularly slow models, only run 2 steps under ASAN, or skip.
-  if [[ ${TESTSPEED_ASAN:-0} != 0 ]]; then
-    if [[ "$model" == */humanoid/100_humanoids.xml ||
-          "$model" == */composite/particle.xml ||
-          "$model" == */replicate/bunnies.xml ||
-          "$model" == */replicate/leaves.xml ||
-          "$model" == */replicate/particle.xml ||
-          "$model" == */perf/*
-    ]]; then
-      # these tests can take several minutes under ASAN
-      return 0
-    fi
-    if [[ "$model" == */benchmark/testdata/humanoid200.xml ||
-          "$model" == */engine/testdata/collision_convex/stacked_boxes.xml ||
-          "$model" == */user/testdata/shark_22_ascii_fTetWild.xml ||
-          "$model" == */user/testdata/shark_22_binary_fTetWild.xml
-    ]]; then
-      iterations=2
-    fi
-  fi
-
-  # run testspeed, writing its output to stderr.
-  # die if testspeed returns a failure code, or if it doesn't have the string
-  # "Simulation time" in the output.
-  ("$TARGET_BINARY" "$model" "$iterations" || die "testspeed failed") \
-      | tee >(cat 1>&2) | grep -q "$EXPECTED_STR"
-
-  if [ "$?" != 0 ]; then
-    die "Expected string not found in output ($EXPECTED_STR)."
-  fi
-}
-
-if [ -z "$TARGET_BINARY" ]; then
-  die "Expecting environment variable TARGET_BINARY."
-fi
-
-if [ -z "$MUJOCO_DLL_DIR" ]; then
-  # Extend PATH to include the directory containing the mujoco DLL.
-  # This is needed on Windows.
-  PATH=$PATH:$MUJOCO_DLL_DIR
-fi
-
-shopt -s globstar
-for model_dir in ${MODEL_DIRS[@]}; do
-  echo "Looking in $model_dir"
-  for model in $model_dir/**/*.xml; do
-    if [[ $(basename $model) == malformed* ]]; then
-      echo "Skipping $model" >&2
-      continue
-    fi
-    if [[ $(basename $model) == *_fail.xml ]]; then
-      echo "Skipping $model" >&2
-      continue
-    fi
-    if grep -q "plugin" $model; then
-      continue
-    fi
-    test_model "$model"
-  done
-done
-
-cd $CURRENT_DIR
-echo "PASS"