Sam Haves
ae58855c15
There is a single remaining exception for mjb as it's a special case by bypassing mjSpec. PiperOrigin-RevId: 943556676 Change-Id: Iaf480ea6d2d42a6007b35c23435b25c9eb24ead0
70 lines
2.1 KiB
Bash
Executable File
70 lines
2.1 KiB
Bash
Executable File
#!/bin/bash
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# Copyright 2021 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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MODEL="${CMAKE_SOURCE_DIR}/model/humanoid/humanoid100.xml"
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OUTPUT_FILE="${TEST_TMPDIR}/compiled.mjb"
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die() { echo "$*" 1>&2 ; exit 1; }
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if [ -z "$TARGET_BINARY" ]; then
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die "Expecting environment variable TARGET_BINARY."
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fi
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if [ -z "$MUJOCO_DLL_DIR" ]; then
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# Extend PATH to include the directory containing the mujoco DLL.
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# This is needed on Windows.
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PATH=$PATH:$MUJOCO_DLL_DIR
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fi
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"$TARGET_BINARY" "$MODEL" "$OUTPUT_FILE" || die "compile failed"
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if [ ! -s "$OUTPUT_FILE" ]; then
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die "Output file empty or missing (${OUTPUT_FILE})."
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fi
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# Test invalid arguments (expect failure)
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"$TARGET_BINARY" > /dev/null 2>&1
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if [ $? -eq 0 ]; then
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die "Expected failure with no arguments"
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fi
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# Test illegal combination (MJB -> XML, expect failure)
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"$TARGET_BINARY" "$OUTPUT_FILE" "${TEST_TMPDIR}/failed.xml" > /dev/null 2>&1
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if [ $? -eq 0 ]; then
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die "Expected failure for MJB -> XML"
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fi
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# Test compile with 1 argument (expect success)
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"$TARGET_BINARY" "$MODEL" > /dev/null || die "compile with 1 argument failed"
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# Test XML -> MJZ (expect success)
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OUTPUT_MJZ="${TEST_TMPDIR}/compiled.mjz"
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"$TARGET_BINARY" "$MODEL" "$OUTPUT_MJZ" || die "compile to MJZ failed"
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if [ ! -s "$OUTPUT_MJZ" ]; then
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die "MJZ output file empty or missing (${OUTPUT_MJZ})."
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fi
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# Test MJZ -> MJB (expect success)
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OUTPUT_MJB_FROM_MJZ="${TEST_TMPDIR}/compiled_from_mjz.mjb"
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"$TARGET_BINARY" "$OUTPUT_MJZ" "$OUTPUT_MJB_FROM_MJZ" || die "compile from MJZ to MJB failed"
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if [ ! -s "$OUTPUT_MJB_FROM_MJZ" ]; then
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die "MJB output from MJZ empty or missing (${OUTPUT_MJB_FROM_MJZ})."
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fi
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echo "PASS"
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