#!/usr/bin/env bash
set -euo pipefail

# Headless MuJoCo only. Never initializes the physical robot.
repo_root="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")/.." && pwd)"
build_dir="${CMVR_BUILD_DIR:-${repo_root}/cmake-build-debug}"
cmake --build "$build_dir" --target speedl_reversal_mujoco_test -j 4
cd "$repo_root"
python3 - "$build_dir" "$@" <<'PY'
from pathlib import Path
import os
import sys

build = Path(sys.argv[1]).resolve()
# Prefer every freshly built project library over output/lib's installed copy.
paths = sorted({str(path.parent) for path in build.rglob('*.so')})
paths.append(str(Path('output/lib').resolve()))
env = os.environ.copy()
env['LD_LIBRARY_PATH'] = ':'.join(paths + [env.get('LD_LIBRARY_PATH', '')])
binary = build / 'cmvr-es/devices/arm/motor_robot_arm/speedl_reversal_mujoco_test'
os.execve(str(binary), [str(binary), *sys.argv[2:]], env)
PY