Google DeepMind
4f0293c6cb
Now we can load flex with format 2.2 binary and ASCII. There are two different parsing strategies. One for gmsh app and the other is for ftetwild. Used the shark model from Scanned Objects by Google Research: https://app.gazebosim.org/GoogleResearch/fuel/models/Weisshai_Great_White_Shark PiperOrigin-RevId: 619229499 Change-Id: I6eb876afcbc8a00631914b093c45bde10c0caaf6
86 lines
2.6 KiB
Bash
Executable File
86 lines
2.6 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" == */composite/particle.xml ]]; then
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# this test 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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"$model" == */user/testdata/shark_41_ascii_gmshApp.xml ||
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"$model" == */user/testdata/shark_22_ascii_fTetWild.xml ||
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"$model" == */user/testdata/shark_22_ascii_gmshApp.xml ||
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"$model" == */user/testdata/shark_22_binary_fTetWild.xml ||
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"$model" == */user/testdata/shark_41_binary_gmshApp.xml ||
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"$model" == */user/testdata/shark_22_binary_gmshApp.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 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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