Batch estimator: Compute band Hessians by default #672
Workflow file for this run
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| name: build | |
| on: | |
| push: | |
| branches: [main, deepmind] | |
| pull_request: | |
| branches: [main] | |
| jobs: | |
| mujoco_mpc: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - os: ubuntu-22.04 | |
| additional_label: "with Clang 14" | |
| cmake_args: >- | |
| -G Ninja | |
| -DCMAKE_C_COMPILER:STRING=clang-14 | |
| -DCMAKE_CXX_COMPILER:STRING=clang++-14 | |
| -DMJPC_BUILD_GRPC_SERVICE:BOOL=ON | |
| additional_targets: "agent_server" | |
| tmpdir: "/tmp" | |
| - os: macos-12 | |
| cmake_args: >- | |
| -G Ninja | |
| -DMJPC_BUILD_GRPC_SERVICE:BOOL=ON | |
| additional_targets: "agent_server" | |
| tmpdir: "/tmp" | |
| - os: windows-2022 | |
| cmake_args: >- | |
| -G Ninja | |
| -DCMAKE_C_COMPILER:STRING=clang | |
| -DCMAKE_CXX_COMPILER:STRING=clang++ | |
| -DMJPC_BUILD_GRPC_SERVICE:BOOL=ON | |
| tmpdir: "C:/Temp" | |
| name: "MuJoCo MPC on ${{ matrix.os }} ${{ matrix.additional_label }}" | |
| runs-on: ${{ matrix.os }} | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Prepare Linux | |
| if: ${{ runner.os == 'Linux' }} | |
| run: > | |
| sudo apt-get update && sudo apt-get install | |
| libgl1-mesa-dev | |
| libxinerama-dev | |
| libxcursor-dev | |
| libxrandr-dev | |
| libxi-dev | |
| ninja-build | |
| - name: Prepare macOS | |
| if: ${{ runner.os == 'macOS' }} | |
| run: brew install ninja | |
| - name: Prepare Windows | |
| if: ${{ runner.os == 'Windows' }} | |
| run: choco install nasm | |
| - name: Configure MuJoCo MPC | |
| run: > | |
| mkdir build && | |
| cd build && | |
| cmake .. -DCMAKE_BUILD_TYPE:STRING=Release | |
| ${{ matrix.cmake_args }} | |
| - name: Build MuJoCo MPC | |
| working-directory: build | |
| run: cmake --build . --config=Release ${{ matrix.cmake_build_args }} --target mjpc agent_test cost_derivatives_test norm_test rollout_test threadpool_test trajectory_test utilities_test batch_force_test batch_optimize_test batch_prior_test batch_sensor_test estimator_trajectory_test estimator_utilities_test kalman_test unscented_test ${{ matrix.additional_targets }} | |
| - name: Test MuJoCo MPC | |
| working-directory: build | |
| run: ctest -C Release --output-on-failure . |