1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
|
#!/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 $model" >&2
continue
fi
test_model "$model"
done
done
cd $CURRENT_DIR
echo "PASS"
|
