Yuval Tassa
2dd518734f
PiperOrigin-RevId: 684797464 Change-Id: I3389416cb69a8564b5119f6e3944b579893ea511
92 lines
2.7 KiB
Bash
Executable File
92 lines
2.7 KiB
Bash
Executable File
#!/bin/bash
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# 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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# 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_DIRS=(
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"${CMAKE_SOURCE_DIR}/model"
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"${CMAKE_SOURCE_DIR}/test"
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)
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die() { echo "$*" 1>&2 ; exit 1; }
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test_model() {
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local EXPECTED_STR='Simulation time'
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local model="$1"
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echo "Testing $model" >&2
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local iterations=10
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# for particularly slow models, only run 2 steps under ASAN, or skip.
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if [[ ${TESTSPEED_ASAN:-0} != 0 ]]; then
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if [[ "$model" == */humanoid/100_humanoids.xml ||
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"$model" == */composite/particle.xml ||
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"$model" == */replicate/bunnies.xml ||
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"$model" == */replicate/leaves.xml ||
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"$model" == */replicate/particle.xml ||
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"$model" == */engine/testdata/collision_convex/perf/*
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]]; then
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# these tests can take several minutes under ASAN
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return 0
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fi
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if [[ "$model" == */benchmark/testdata/humanoid200.xml ||
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"$model" == */engine/testdata/collision_convex/stacked_boxes.xml ||
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"$model" == */user/testdata/shark_22_ascii_fTetWild.xml ||
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"$model" == */user/testdata/shark_22_binary_fTetWild.xml
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]]; then
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iterations=2
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fi
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fi
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# run testspeed, writing its output to stderr.
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# die if testspeed returns a failure code, or if it doesn't have the string
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# "Simulation time" in the output.
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("$TARGET_BINARY" "$model" "$iterations" || die "testspeed failed") \
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| tee >(cat 1>&2) | grep -q "$EXPECTED_STR"
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if [ "$?" != 0 ]; then
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die "Expected string not found in output ($EXPECTED_STR)."
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fi
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}
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if [ -z "$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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shopt -s globstar
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for model_dir in ${MODEL_DIRS[@]}; do
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echo "Looking in $model_dir"
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for model in $model_dir/**/*.xml; do
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if [[ $(basename $model) == malformed* ]]; then
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echo "Skipping $model" >&2
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continue
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fi
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if [[ $(basename $model) == malformed* ]]; then
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echo "Skipping $model" >&2
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continue
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fi
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if grep -q "plugin" $model; then
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continue
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fi
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test_model "$model"
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done
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done
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cd $CURRENT_DIR
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echo "PASS"
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