Fix the locking on the policy object in cross entropy planner. #1482
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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-20.04 | |
additional_label: "with Clang 12" | |
cmake_args: >- | |
-G Ninja | |
-DCMAKE_C_COMPILER:STRING=clang-12 | |
-DCMAKE_CXX_COMPILER:STRING=clang++-12 | |
-DMJPC_BUILD_GRPC_SERVICE:BOOL=ON | |
tmpdir: "/tmp" | |
- os: macos-12 | |
cmake_args: >- | |
-G Ninja | |
-DMJPC_BUILD_GRPC_SERVICE:BOOL=ON | |
tmpdir: "/tmp" | |
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 | |
zlib1g-dev | |
- name: Prepare macOS | |
if: ${{ runner.os == 'macOS' }} | |
run: brew install ninja zlib | |
- name: Prepare Windows | |
if: ${{ runner.os == 'Windows' }} | |
# Install llvm 16 manually, remove after | |
# https://github.com/actions/runner-images/issues/8125 is resolved and that | |
# version is included in the image by default | |
run: > | |
choco install nasm | |
choco upgrade llvm | |
- name: For the deepmind branch, use MuJoCo HEAD rather than a fixed commit | |
if: ${{ github.ref_name == 'deepmind' }} | |
run: | |
echo "cmake_extra_args=-DMUJOCO_MPC_MUJOCO_GIT_TAG:STRING=main" > "$GITHUB_ENV" | |
- name: Configure MuJoCo MPC | |
shell: bash | |
run: > | |
mkdir build && | |
cd build && | |
cmake .. -DCMAKE_BUILD_TYPE:STRING=Release | |
${{ matrix.cmake_args }} | |
$cmake_extra_args | |
- name: Build MuJoCo MPC | |
working-directory: build | |
run: cmake --build . --config=Release ${{ matrix.cmake_build_args }} | |
- name: Test MuJoCo MPC | |
working-directory: build | |
run: > | |
cd mjpc/test && | |
ctest -C Release --output-on-failure . | |
- name: Notify team chat | |
shell: bash | |
env: | |
GCHAT_API_URL: ${{ secrets.GCHAT_API }} | |
JOB_URL: "${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }}" | |
CHATMSG_AUTHOR_NAME: ${{ github.event.head_commit.author.name }} | |
CHATMSG_AUTHOR_EMAIL: ${{ github.event.head_commit.author.email }} | |
CHATMSG_COMMIT_MESSAGE: ${{ github.event.head_commit.message }} | |
CHATMSG_JOB_ID: ${{ matrix.os }} ${{ matrix.additional_label }} | |
if: ${{ failure() && github.event_name == 'push' && env.GCHAT_API_URL != '' }} | |
run: | | |
CHATMSG="$(cat <<-'EOF' | python3 | |
import json | |
import os | |
env = lambda x: os.getenv(x, '') | |
data = dict( | |
result=env('JOB_URL'), | |
job=env('CHATMSG_JOB_ID'), | |
commit=env('GITHUB_SHA')[:6], | |
name=env('CHATMSG_AUTHOR_NAME').replace('```', ''), | |
email=env('CHATMSG_AUTHOR_EMAIL'), | |
msg=env('CHATMSG_COMMIT_MESSAGE').replace('```', '') | |
) | |
text = '<{result}|*FAILURE*>: job `{job}` commit `{commit}`\n```Author: {name}<{email}>\n\n{msg}```'.format(**data) | |
print(json.dumps({'text' : text})) | |
EOF | |
)" && | |
curl "$GCHAT_API_URL&threadKey=$GITHUB_SHA&messageReplyOption=REPLY_MESSAGE_FALLBACK_TO_NEW_THREAD" \ | |
-X POST \ | |
-H "Content-Type: application/json" \ | |
--data-raw "${CHATMSG}" |