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Change LoadModelFromString to return a smart pointer, add MakeData, and update tests to have C++ RAII clean up model and data.

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PiperOrigin-RevId: 935980153
Change-Id: I41d25bfab4935494dc984168820cb7cad123cadf
This commit is contained in:
Kyle Bayes
2026-06-22 04:18:29 -07:00
committed by Copybara-Service
parent 34d142ee50
commit 1490336955
39 changed files with 4616 additions and 5908 deletions
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test/engine/engine_setconst_test.cc
+26 -43
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@@ -53,7 +53,7 @@ TEST_F(SetConstTest, AwakeActuatedJoint) {
</mujoco>
)";
char error[1024];
mjModel* m;
MjModelPtr m;
string sleep[] = {"auto", "never", "allowed", "init"};
int tsp0[] = {mjSLEEP_AUTO_NEVER, mjSLEEP_NEVER, mjSLEEP_ALLOWED,
@@ -69,10 +69,9 @@ TEST_F(SetConstTest, AwakeActuatedJoint) {
size_t pos2 = xml_copy.find("POLICY2");
xml_copy.replace(pos2, 7, sleep[j]);
m = LoadModelFromString(xml_copy.c_str(), error, sizeof(error));
ASSERT_THAT(m, NotNull()) << error;
ASSERT_THAT(m.get(), NotNull()) << error;
EXPECT_EQ(m->tree_sleep_policy[0], tsp0[i]);
EXPECT_EQ(m->tree_sleep_policy[1], tsp1[j]);
mj_deleteModel(m);
}
}
}
@@ -97,13 +96,11 @@ TEST_F(SetConstTest, AwakeActuatedSite) {
</mujoco>
)";
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model.get(), NotNull()) << error;
EXPECT_EQ(model->tree_sleep_policy[0], mjSLEEP_AUTO_NEVER);
EXPECT_EQ(model->tree_sleep_policy[1], mjSLEEP_AUTO_ALLOWED);
mj_deleteModel(model);
}
TEST_F(SetConstTest, AwakeActuatedBody) {
@@ -125,13 +122,11 @@ TEST_F(SetConstTest, AwakeActuatedBody) {
</mujoco>
)";
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model.get(), NotNull()) << error;
EXPECT_EQ(model->tree_sleep_policy[0], mjSLEEP_AUTO_NEVER);
EXPECT_EQ(model->tree_sleep_policy[1], mjSLEEP_AUTO_ALLOWED);
mj_deleteModel(model);
}
TEST_F(SetConstTest, AwakeActuatedTendon) {
@@ -161,13 +156,11 @@ TEST_F(SetConstTest, AwakeActuatedTendon) {
</mujoco>
)";
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model.get(), NotNull()) << error;
EXPECT_EQ(model->tree_sleep_policy[0], mjSLEEP_AUTO_NEVER);
EXPECT_EQ(model->tree_sleep_policy[1], mjSLEEP_AUTO_ALLOWED);
mj_deleteModel(model);
}
TEST_F(SetConstTest, AwakeStiffTendonMultiTree) {
@@ -194,13 +187,11 @@ TEST_F(SetConstTest, AwakeStiffTendonMultiTree) {
</mujoco>
)";
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model.get(), NotNull()) << error;
EXPECT_EQ(model->tree_sleep_policy[0], mjSLEEP_AUTO_NEVER);
EXPECT_EQ(model->tree_sleep_policy[1], mjSLEEP_AUTO_NEVER);
mj_deleteModel(model);
}
TEST_F(SetConstTest, SleepyTendonSingleTree) {
@@ -227,12 +218,10 @@ TEST_F(SetConstTest, SleepyTendonSingleTree) {
</mujoco>
)";
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model.get(), NotNull()) << error;
EXPECT_EQ(model->tree_sleep_policy[0], mjSLEEP_AUTO_ALLOWED);
mj_deleteModel(model);
}
TEST_F(SetConstTest, SleepyTendonZeroStiffness) {
@@ -259,13 +248,11 @@ TEST_F(SetConstTest, SleepyTendonZeroStiffness) {
</mujoco>
)";
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model.get(), NotNull()) << error;
EXPECT_EQ(model->tree_sleep_policy[0], mjSLEEP_AUTO_ALLOWED);
EXPECT_EQ(model->tree_sleep_policy[1], mjSLEEP_AUTO_ALLOWED);
mj_deleteModel(model);
}
TEST_F(SetConstTest, TendonTreeId) {
@@ -336,16 +323,16 @@ TEST_F(SetConstTest, TendonTreeId) {
</mujoco>
)";
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model.get(), NotNull()) << error;
int t_static_id = mj_name2id(model, mjOBJ_TENDON, "T_static");
int t_tree1_id = mj_name2id(model, mjOBJ_TENDON, "T_tree1");
int t_intertree12_id = mj_name2id(model, mjOBJ_TENDON, "T_intertree12");
int t_intertree123_id = mj_name2id(model, mjOBJ_TENDON, "T_intertree123");
int t_static_id = mj_name2id(model.get(), mjOBJ_TENDON, "T_static");
int t_tree1_id = mj_name2id(model.get(), mjOBJ_TENDON, "T_tree1");
int t_intertree12_id = mj_name2id(model.get(), mjOBJ_TENDON, "T_intertree12");
int t_intertree123_id = mj_name2id(model.get(), mjOBJ_TENDON, "T_intertree123");
int b1_1_treeid = model->body_treeid[mj_name2id(model, mjOBJ_BODY, "B1_1")];
int b2_1_treeid = model->body_treeid[mj_name2id(model, mjOBJ_BODY, "B2_1")];
int b1_1_treeid = model->body_treeid[mj_name2id(model.get(), mjOBJ_BODY, "B1_1")];
int b2_1_treeid = model->body_treeid[mj_name2id(model.get(), mjOBJ_BODY, "B2_1")];
// Tendon 1: Not associated with any tree
EXPECT_EQ(model->tendon_treenum[t_static_id], 0);
@@ -368,8 +355,6 @@ TEST_F(SetConstTest, TendonTreeId) {
EXPECT_EQ(model->tendon_treeid[2*t_intertree123_id], b1_1_treeid);
EXPECT_EQ(model->tendon_treeid[2*t_intertree123_id+1], b2_1_treeid);
// The third tree ID is not stored in tendon_treeid
mj_deleteModel(model);
}
TEST_F(SetConstTest, SleepingNotAllowed) {
@@ -415,8 +400,8 @@ TEST_F(SetConstTest, SleepingNotAllowed) {
</mujoco>
)";
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
EXPECT_THAT(model, IsNull()) << error;
MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
EXPECT_THAT(model.get(), IsNull()) << error;
EXPECT_THAT(string(error), HasSubstr(
"tree 1 connected to tendon 0 which spans more than 2 trees, "
"sleeping not allowed"));
@@ -447,8 +432,8 @@ TEST_F(SetConstTest, DofLength) {
</mujoco>
)";
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model.get(), NotNull()) << error;
mjtNum tol = 1e-5;
@@ -470,8 +455,6 @@ TEST_F(SetConstTest, DofLength) {
EXPECT_NEAR(model->dof_length[8], 5, tol);
EXPECT_NEAR(model->dof_length[9], 5, tol);
EXPECT_NEAR(model->dof_length[10], 5, tol);
mj_deleteModel(model);
}
} // namespace