Alessio Quaglino
e250ff0d5a
- Added new `cable` composite type: * The `initial` parameter specifies the joint at the starting boundary: `free`, `ball`, or `none`. * The boundary bodies are exposed with the names:`B_left` and `B_right`. * The vertex initial positions can be specified directly in the XML with the parameter `vertex`. * The orientation of the body frame **is** the orientation of the material frame of the curve. - Added new `cable` passive force plugin: * Twist and bending stiffness can be set separately with the parameters `twist` and `bend`. * The stress-free configuration can be set to be the initial one or flat with the flag `flat`. * New cable example showing the formation of plectoneme. * New coil example. * New belt example showing interaction between twist and anisotropy. * Added test using cantilever exact solution. PiperOrigin-RevId: 480033694 Change-Id: I491271bce8fccb185961477e903e5a72d172c8a3
66 lines
1.8 KiB
Bash
Executable File
66 lines
1.8 KiB
Bash
Executable File
#!/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 $model" >&2
|
|
|
|
# run testspeed, writing its output to stderr.
|
|
# die if testspeed returns a failure code, or if it doesn't have the string
|
|
# "Simulation time" in the output.
|
|
("$TARGET_BINARY" "$model" 10 || die "testspeed failed") \
|
|
| tee >(cat 1>&2) | grep -q "$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 grep -q "plugin" $model; then
|
|
continue
|
|
fi
|
|
test_model "$model"
|
|
done
|
|
done
|
|
|
|
cd $CURRENT_DIR
|
|
echo "PASS"
|