File size: 2,787 Bytes
2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 | #!/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 ||
"$model" == */engine/testdata/collision_convex/perf/*
]]; then
# these tests can take several minutes under ASAN
return 0
fi
if [[ "$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) == malformed* ]]; 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"
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