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
21 lines
748 B
CMake
21 lines
748 B
CMake
# Copyright 2021 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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# https://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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if(MUJOCO_BUILD_EXAMPLES)
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include(ShellTests)
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add_mujoco_shell_test(compile_test compile)
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add_mujoco_shell_test(testspeed_test testspeed)
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endif()
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