Reintroduce alternative contact models and streamline changes to the new API #24
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| name: GPU Benchmarks | |
| on: | |
| pull_request: | |
| types: [opened, reopened, synchronize] | |
| workflow_dispatch: | |
| schedule: | |
| - cron: "0 0 * * 1" # Run At 00:00 on Monday | |
| permissions: | |
| pull-requests: write | |
| deployments: write | |
| contents: write | |
| jobs: | |
| benchmark: | |
| runs-on: self-hosted | |
| container: | |
| image: ghcr.io/nvidia/jax:jax | |
| options: --rm --gpus all --ipc=host --ulimit memlock=-1 --ulimit stack=67108864 | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v4 | |
| - name: Set up environment | |
| run: | | |
| pip install .[all] | |
| - name: Install Gazebo SDF | |
| run: | | |
| apt update && apt install -y lsb-release wget | |
| sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' | |
| wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add - | |
| apt-get update | |
| apt install -y libsdformat14-dev libsdformat14 | |
| - name: Performance regression check | |
| uses: actions/checkout@v4 | |
| - name: Run benchmark and store result | |
| run: | | |
| pytest tests/test_benchmark.py -k 'not test_rigid_contact_model and not test_soft_contact_model' --gpu-only --batch-size 128 --benchmark-only --benchmark-json output.json | |
| - name: Download previous benchmark data | |
| uses: actions/cache@v4 | |
| with: | |
| path: ./cache | |
| key: ${{ runner.os }}-benchmark | |
| - name: Store benchmark result | |
| uses: benchmark-action/github-action-benchmark@v1 | |
| with: | |
| tool: 'pytest' | |
| output-file-path: output.json | |
| external-data-json-path: ./cache/benchmark-data.json | |
| fail-on-alert: true | |
| summary-always: true | |
| comment-always: true | |
| alert-threshold: 150% | |
| auto-push: false | |
| gh-pages-branch: gh-pages | |
| github-token: ${{ secrets.GITHUB_TOKEN }} | |
| - name: Push benchmark result | |
| if: github.event_name != 'pull_request' | |
| run: git push 'https://ami-iit:${{ secrets.GITHUB_TOKEN }}@github.com/ami-iit/jaxsim.git' gh-pages:gh-pages |