23 lines
871 B
Bash
23 lines
871 B
Bash
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#!/usr/bin/env bash
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set -euo pipefail
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# Headless MuJoCo only. Never initializes the physical robot.
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repo_root="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")/.." && pwd)"
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build_dir="${CMVR_BUILD_DIR:-${repo_root}/cmake-build-debug}"
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cmake --build "$build_dir" --target speedl_reversal_mujoco_test -j 4
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cd "$repo_root"
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python3 - "$build_dir" "$@" <<'PY'
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from pathlib import Path
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import os
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import sys
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build = Path(sys.argv[1]).resolve()
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# Prefer every freshly built project library over output/lib's installed copy.
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paths = sorted({str(path.parent) for path in build.rglob('*.so')})
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paths.append(str(Path('output/lib').resolve()))
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env = os.environ.copy()
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env['LD_LIBRARY_PATH'] = ':'.join(paths + [env.get('LD_LIBRARY_PATH', '')])
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binary = build / 'cmvr-es/devices/arm/motor_robot_arm/speedl_reversal_mujoco_test'
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os.execve(str(binary), [str(binary), *sys.argv[2:]], env)
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PY
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