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Disallow repeated nameless assets that use the same file, except for URDFs.

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PiperOrigin-RevId: 675114055
Change-Id: I142811ac2d8ef9e12bb8a06d5f3a2fdac02946da
This commit is contained in:
Alessio Quaglino
2024-09-16 05:49:45 -07:00
committed by Copybara-Service
parent 60a1921b34
commit 015bdeb756
6 changed files with 103 additions and 46 deletions
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test/xml/xml_urdf_test.cc
+65 -2
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@@ -15,8 +15,6 @@
// Tests for xml/xml_api.cc.
#include <array>
#include <cstddef>
#include <cstring>
#include <string>
#include <vector>
@@ -28,6 +26,7 @@
namespace mujoco {
namespace {
using ::testing::IsNull;
using ::testing::NotNull;
// ---------------------------- test capsule --------------------------------
@@ -252,5 +251,69 @@ TEST_F(MujocoTest, ReadsJointTypes) {
mj_deleteModel(model);
}
TEST_F(MujocoTest, RepeatedMeshName) {
static constexpr char urdf[] = R"(
<robot name="">
<mujoco>
<compiler discardvisual="false"/>
</mujoco>
<link name="geom1">
<visual name="vis1">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="mesh.obj" scale="1 1 1"/>
</geometry>
</visual>
</link>
<link name="geom2">
<visual name="vis2">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="mesh.obj" scale="2 2 2"/>
</geometry>
</visual>
</link>
<link name="geom3">
<visual name="vis3">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="mesh.obj" scale="3 3 3"/>
</geometry>
</visual>
</link>
<link name="geom4">
<visual name="vis4">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="mesh.obj" scale="2 2 2"/>
</geometry>
</visual>
</link>
</robot>
)";
std::array<char, 1000> error;
mjSpec* spec = mj_parseXMLString(urdf, 0, error.data(), error.size());
EXPECT_THAT(spec, NotNull()) << error.data();
mjsMesh* mesh = mjs_asMesh(mjs_findElement(spec, mjOBJ_MESH, "mesh"));
mjsMesh* mesh1 = mjs_asMesh(mjs_findElement(spec, mjOBJ_MESH, "mesh1"));
mjsMesh* mesh2 = mjs_asMesh(mjs_findElement(spec, mjOBJ_MESH, "mesh2"));
mjsMesh* mesh3 = mjs_asMesh(mjs_findElement(spec, mjOBJ_MESH, "mesh3"));
EXPECT_THAT(mesh, NotNull());
EXPECT_THAT(mesh1, NotNull());
EXPECT_THAT(mesh2, NotNull());
EXPECT_THAT(mesh3, IsNull());
EXPECT_STREQ(mjs_getString(mesh->name), "mesh");
EXPECT_STREQ(mjs_getString(mesh1->name), "mesh1");
EXPECT_STREQ(mjs_getString(mesh2->name), "mesh2");
mj_deleteSpec(spec);
}
} // namespace
} // namespace mujoco