Yuval Tassa
38f0ff3caa
Support named CLI flags, physics overrides, and refactor global state. - **Named CLI Flags**: Replaced standard positional arguments with named flags (`--nstep`, `--nthread`, `--noisestd`, `--noiserate`, `--npoolthread`) and preserved Google-wide flags compatibility (via custom argv compacting and InitGoogle). - **Physics Option Overrides**: Added support for configuring loaded model settings directly from the command line (`--solver`, `--cone`, `--jacobian`, `--integrator`, `--iterations`, `--tolerance`, `--sleep_tolerance`, `--noslip_iterations`). - **Encapsulated Thread State**: Consolidated loose global variables and per-thread rollout statistics arrays into a single data structure, `RolloutRunner runner`, simplifying mutli-threaded data boundaries. - **Readable Physics Options Printing**: Logged configured non-default options dynamically prior to rollout. Enums and active bitmask flags (e.g. disableflags/enableflags) are decoded into friendly strings (e.g., `Sleep : Enabled`). - **Tests & Docs**: Added testspeed_test.sh running testspeed over dominos.xml to check all overrides, registered shell test target in BUILD and CMakeLists.txt, and updated samples.rst documentation. PiperOrigin-RevId: 942285912 Change-Id: Idb966fadfa0ccba0f1862f9d62bf83458b61939a
73 lines
3.3 KiB
Bash
Executable File
73 lines
3.3 KiB
Bash
Executable File
#!/bin/bash
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# Copyright 2026 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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MODEL="${CMAKE_SOURCE_DIR}/model/sleep/dominos.xml"
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die() { echo "$*" 1>&2 ; exit 1; }
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if [ -z "$TARGET_BINARY" ]; then
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die "Expecting environment variable TARGET_BINARY."
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fi
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if [ -z "$MUJOCO_DLL_DIR" ]; then
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# Extend PATH to include the directory containing the mujoco DLL.
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# This is needed on Windows.
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PATH=$PATH:$MUJOCO_DLL_DIR
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fi
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# Run testspeed with override flags and verify they get applied
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echo "Running testspeed with command-line overrides on dominos.xml..."
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echo "Command: $TARGET_BINARY --nstep=10 --nthread=1 --noisestd=0.02 --noiserate=0.2 --solver=PGS --jacobian=sparse --integrator=rk4 --iterations=12 --tolerance=1e-7 --sleep_tolerance=2e-4 --noslip_iterations=5 $MODEL"
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OUTPUT=$("$TARGET_BINARY" --nstep=10 --nthread=1 --noisestd=0.02 --noiserate=0.2 --solver=PGS --jacobian=sparse --integrator=rk4 --iterations=12 --tolerance=1e-7 --sleep_tolerance=2e-4 --noslip_iterations=5 "$MODEL") || die "testspeed failed"
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# Verify option printing works.
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# Dominos.xml has:
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# cone="elliptic" -> cone: Elliptic
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# impratio="10" -> impratio: 10
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# <flag sleep="enable"/> -> Sleep: Enabled
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#
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# Overridden via command line options:
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# solver=PGS
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# jacobian=sparse -> jacobian: Sparse
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# integrator=rk4 -> integrator: RK4
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# iterations=12
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# tolerance=1e-7 -> tolerance: 1e-07
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# sleep_tolerance=2e-4 (overwrites XML's 3e-4) -> sleep_tolerance: 0.0002
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# noslip_iterations=5
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echo "Full testspeed Output:"
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echo "--------------------------------------------------------"
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echo "$OUTPUT"
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echo "--------------------------------------------------------"
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echo "Verifying printed non-default option block:"
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echo "$OUTPUT" | grep -A 10 "Physics options (non-default):" || die "Missing physics options block!"
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echo "--------------------------------------------------------"
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echo "$OUTPUT" | grep -F "Physics options (non-default):" || die "Missing non-default header"
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echo "$OUTPUT" | grep -F " cone : Elliptic" || die "Missing cone print"
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echo "$OUTPUT" | grep -F " impratio : 10" || die "Missing impratio print"
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echo "$OUTPUT" | grep -E " sleep_tolerance : (0.0002|2e-0?4)" || die "Missing sleep_tolerance print"
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echo "$OUTPUT" | grep -F " Sleep : Enabled" || die "Missing Sleep print"
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echo "$OUTPUT" | grep -F " solver : PGS" || die "Missing solver print"
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echo "$OUTPUT" | grep -F " jacobian : Sparse" || die "Missing jacobian print"
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echo "$OUTPUT" | grep -F " integrator : RK4" || die "Missing integrator print"
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echo "$OUTPUT" | grep -F " iterations : 12" || die "Missing iterations print"
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echo "$OUTPUT" | grep -E " tolerance : (1e-0?7|0.0000001|1e-7)" || die "Missing tolerance print"
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echo "$OUTPUT" | grep -F " noslip_iterations : 5" || die "Missing noslip_iterations print"
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echo "PASS"
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