Merge pull request #46 from CommonWealthRobotics/kh/physics-update-mujoco

Adding mujoco test

Author: madhephaestus

.github/workflows/verify.yml

@@ -17,17 +17,15 @@ jobs:
     - name: start xvfb
       run:
         Xvfb :0 &
-
-    - name: initialize the X11 DISPLAY variable
-      run:
-        export DISPLAY=:0
-
     - name: After checkout, list directory contnts
       run: pwd; ls -la        
     - name: Install libraries
       run: |
           sudo apt update
           sudo apt install libgtk2.0-0
+    - name: initialize the X11 DISPLAY variable
+      run:
+        export DISPLAY=:0
 
     - name: Pull a JavaFX JDK
       run: wget http://static.azul.com/zulu/bin/zulu8.33.0.1-ca-fx-jdk8.0.192-linux_x64.tar.gz
@@ -46,16 +44,23 @@ jobs:
       run: ./gradlew shadowJar
 
     - name: Test with Gradle 
-      run: xvfb-run -s '-screen 0 1024x768x24' ./gradlew test     
-      
+      run: xvfb-run -s '-screen 0 1024x768x24' ./gradlew test   
+    - name: If Fail
+      if: ${{ failure() }}
+      run: cat /home/runner/work/bowler-script-kernel/bowler-script-kernel/build/reports/tests/test/index.html
+         
+    - name: Test Bezier 
+      run:  xvfb-run -s '-screen 0 1024x768x24' java -Dprism.verbose=true -Dprism.forceGPU=true -jar build/libs/bowler-kernel.jar -g https://gist.github.com/4aeeaa49bd3a807eed8f8ff3dea84c48.git  BezierEditorDemo.groovy 
+    - name: start xvfb
+      run:
+        Xvfb :0 &
     - name: Test Local 
       run:  xvfb-run -s '-screen 0 1024x768x24' java -Dprism.verbose=true -Dprism.forceGPU=true -jar build/libs/bowler-kernel.jar -f kernel-return-test.groovy
 
     - name: Clean Cad 
       run: rm -rf $HOME/bowler-workspace/gitcache/github.com/Hephaestus-Arm/HephaestusArm2
     - name: build Cad 
       run:  xvfb-run -s '-screen 0 1024x768x24' java -Dprism.verbose=true -Dprism.forceGPU=true -jar build/libs/bowler-kernel.jar -g https://github.com/Hephaestus-Arm/HephaestusArm2.git hephaestus.xml
-    - name: Test Bezier 
-      run:  xvfb-run -s '-screen 0 1024x768x24' java -Dprism.verbose=true -Dprism.forceGPU=true -jar build/libs/bowler-kernel.jar -g https://gist.github.com/4aeeaa49bd3a807eed8f8ff3dea84c48.git  BezierEditorDemo.groovy 
+
 
 

.gitignore

@@ -26,3 +26,6 @@ hs_err_pid*
 .idea
 out
 manufacturing
+html
+physicsTest
+/MUJOCO_LOG.TXT

JCSG

@@ -1,3 +1,9 @@
+
+# Documentation
+
+[Javadoc Generated Documentation](https://commonwealthrobotics.com/bowler-script-kernel/namespaces.html) 
+
+
 # Bowler Kernel Scripting environment
 
 [![Join the chat at https://gitter.im/CommonWealthRobotics/bowler-script-kernel](https://badges.gitter.im/NeuronRobotics/bowler-script-kernel.svg)](https://gitter.im/NeuronRobotics/bowler-script-kernel?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)

README.md

@@ -0,0 +1,36 @@
+#!/bin/bash
+
+GITURL=$(git config --get remote.origin.url)
+
+echo $GITURL
+
+if test -d /path/to/directory; then
+  echo "html Directory exists."
+  cd html
+  git pull
+else
+	git clone $GITURL html
+	cd html
+fi
+
+if ( git checkout origin/gh-pages -b gh-pages) then
+	echo "Checked out $GITURL gh-pages"
+else
+	echo "Creating out $GITURL gh-pages"
+	git checkout origin/development -b gh-pages
+	rm -r *
+	echo "# A simple README file for the gh-pages branch" > README.md
+	git add README.md
+	git commit -m"Replaced gh-pages html with simple readme"
+	git push -u origin gh-pages
+fi
+cd ..
+
+doxygen doxy.doxyfile
+
+cd html
+git add * 
+git add search/*
+git commit -a -m"updating the doxygen"
+git push
+cd ..

UpdateJavaDocs.sh

@@ -160,7 +160,8 @@ dependencies {
 	//compile group: "de.swirtz", name: "ktsRunner", version: "0.0.7"
 	compile 'us.ihmc:jinput:2.0.6-ihmc2'
 	compile group: 'us.ihmc', name: 'ihmc-native-library-loader', version: '1.3.1'
-
+//	compile 'net.java.jinput:jinput:2.0.10' // pegged to Java 17, no MacOS m1 support until java updated
+//	compile 'net.java.jinput:jinput:2.0.10:natives-all'
 
 	compile 'com.google.crypto.tink:tink:1.3.0-rc1'
 
@@ -220,7 +221,9 @@ dependencies {
 
 	//compile group: 'com.neuronrobotics', name:'GithubPasswordManager', version:'0.6.1'
 	//compile "com.neuronrobotics:JavaCad:0.14.0"
-	compile project('JCSG')
+	//compile project('JCSG')
+	compile group: 'com.neuronrobotics', name: 'JavaCad', version:'1.1.0'
+	
 	//compile "com.neuronrobotics:CHDK-PTP-Java:0.5.3-SNAPSHOT"
 	//compile "com.neuronrobotics:java-bowler:3.25.4"
 	compile project('java-bowler')
@@ -371,7 +374,9 @@ dependencies {
 	// https://mvnrepository.com/artifact/com.github.docker-java/docker-java-transport-httpclient5
 	implementation group: 'com.github.docker-java', name: 'docker-java-transport-httpclient5', version: '3.3.0'
 
-	implementation group: 'com.neuronrobotics', name: 'mujoco-java', version:'2.2.0-pre.5'
+	//MuJoCo
+	implementation group: 'org.bytedeco', name: 'javacpp', version: '1.5.7'
+	implementation group: 'com.neuronrobotics', name: 'mujoco-java', version:'3.1.3-pre.11'
 
 	// https://mvnrepository.com/artifact/org.robokind/org.robokind.api.speech
 	implementation group: 'org.robokind', name: 'org.robokind.api.speech', version: '0.9.5'