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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"
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