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Change from parent ID to parent pointer in mjCBody.

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This is required to have parent body info during attach and during body to frame tranformation for uncompiled models.

PiperOrigin-RevId: 703038426
Change-Id: Ib482059ba419a020860c649d6ea1b1088045f2e1
This commit is contained in:
Alessio Quaglino
2024-12-05 02:31:54 -08:00
committed by Copybara-Service
parent 977fb913cf
commit 10239a673b
4 changed files with 58 additions and 34 deletions
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test/user/user_api_test.cc
+29 -10
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@@ -1316,7 +1316,9 @@ TEST_F(MujocoTest, AttachWorld) {
static constexpr char xml_parent[] = R"(
<mujoco>
<worldbody>
<frame name="frame" pos="1 2 3"/>
<body name="body">
<frame name="frame" pos="1 2 3"/>
</body>
</worldbody>
</mujoco>)";
@@ -1334,15 +1336,21 @@ TEST_F(MujocoTest, AttachWorld) {
static constexpr char xml_result[] = R"(
<mujoco>
<worldbody>
<frame name="frame" pos="1 2 3">
<frame name="attached-world-1">
<body name="body">
<frame name="frame" pos="1 2 3">
<body name="attached-sphere-1">
<joint type="slide"/>
<geom size=".1"/>
</body>
<camera pos="0 0 0" quat="1 0 0 0"/>
<frame name="attached-world-2">
<body name="attached-sphere-2">
<joint type="slide"/>
<geom size=".1"/>
</body>
<camera pos="0 0 0" quat="1 0 0 0"/>
</frame>
</frame>
</frame>
</body>
</worldbody>
</mujoco>)";
@@ -1351,27 +1359,38 @@ TEST_F(MujocoTest, AttachWorld) {
mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
EXPECT_THAT(child, NotNull()) << er.data();
// attach a body to the frame
mjsFrame* frame = mjs_findFrame(parent, "frame");
EXPECT_THAT(frame, NotNull());
mjsBody* body = mjs_findBody(child, "sphere");
EXPECT_THAT(body, NotNull());
mjsBody* attached = mjs_attachBody(frame, body, "attached-", "-1");
EXPECT_THAT(attached, NotNull());
mjModel* model1 = mj_compile(parent, 0);
EXPECT_THAT(model1, NotNull());
// attach the world to the same frame and convert it to a frame
mjsBody* world = mjs_findBody(child, "world");
EXPECT_THAT(world, NotNull());
mjsBody* child_world = mjs_attachBody(frame, world, "attached-", "-1");
mjsBody* child_world = mjs_attachBody(frame, world, "attached-", "-2");
EXPECT_THAT(child_world, NotNull());
mjsFrame* frame_world = mjs_bodyToFrame(&child_world);
EXPECT_THAT(frame_world, NotNull());
EXPECT_THAT(child_world, IsNull());
mjModel* model = mj_compile(parent, 0);
EXPECT_THAT(model, NotNull());
// compile and compare
mjModel* model2 = mj_compile(parent, 0);
EXPECT_THAT(model2, NotNull());
mjModel* expected = LoadModelFromString(xml_result, er.data(), er.size());
EXPECT_THAT(expected, NotNull()) << er.data();
EXPECT_LE(CompareModel(model, expected, field), tol)
EXPECT_LE(CompareModel(model2, expected, field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
mj_deleteSpec(parent);
mj_deleteSpec(child);
mj_deleteModel(model);
mj_deleteModel(model1);
mj_deleteModel(model2);
mj_deleteModel(expected);
}