Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb

test/sample/CMakeLists.txt

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+# 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
+#
+#     https://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.
+
+if(MUJOCO_BUILD_EXAMPLES)
+  include(ShellTests)
+
+  add_mujoco_shell_test(compile_test compile)
+  add_mujoco_shell_test(testspeed_test testspeed)
+endif()

test/sample/compile_test.sh

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+#!/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="${CMAKE_SOURCE_DIR}/model/humanoid100/humanoid100.xml"
+OUTPUT_FILE="${TEST_TMPDIR}/compiled.mjb"
+
+
+die() { echo "$*" 1>&2 ; exit 1; }
+
+if [ -z "$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:$MUJOCO_DLL_DIR
+fi
+
+"$TARGET_BINARY" "$MODEL" "$OUTPUT_FILE" || die "compile failed"
+
+if [ ! -s "$OUTPUT_FILE" ]; then
+  die "Output file empty or missing (${OUTPUT_FILE})."
+fi
+
+echo "PASS"

test/sample/testspeed_test.sh

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+#!/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="${CMAKE_SOURCE_DIR}/model/humanoid100/humanoid100.xml"
+
+die() { echo "$*" 1>&2 ; exit 1; }
+
+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
+
+readonly EXPECTED_STR='Simulation time'
+("$TARGET_BINARY" "$MODEL" 10 || die "testspeed failed") | grep "$EXPECTED_STR"
+
+if [ "$?" != 0 ]; then
+die "Expected string not found in output ($EXPECTED_STR)."
+fi
+
+cd $CURRENT_DIR
+echo "PASS"