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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/user/user_api_test.cc
+179 -194
View File
@@ -24,12 +24,12 @@
#include <string>
#include <vector>
#include <absl/strings/str_format.h>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <mujoco/mujoco.h>
#include <mujoco/mjspec.h>
#include <absl/strings/str_format.h>
#include <mujoco/mjplugin.h>
#include <mujoco/mjspec.h>
#include <mujoco/mujoco.h>
#include "src/xml/xml_api.h"
#include "test/compare_model.h"
#include "test/fixture.h"
@@ -228,7 +228,6 @@ TEST_F(MujocoTest, OriginSpecInvariantToAttachment) {
mjs_findElement(parent_spec, mjOBJ_BODY, "parent_body");
EXPECT_EQ(mjs_getOriginSpec(parent_spec_body), parent_spec);
mj_deleteSpec(child_spec);
mj_deleteSpec(parent_spec);
}
@@ -404,10 +403,9 @@ TEST_F(MujocoTest, SetToDCMotorNullable) {
double motorconst[2] = {0.05, 0.05};
double resistance = 2.0;
const char* err = mjs_setToDCMotor(actuator, motorconst, resistance,
nullptr, nullptr, nullptr,
nullptr, nullptr, nullptr,
nullptr, 0);
const char* err =
mjs_setToDCMotor(actuator, motorconst, resistance, nullptr, nullptr,
nullptr, nullptr, nullptr, nullptr, nullptr, 0);
EXPECT_STREQ(err, "");
EXPECT_EQ(actuator->gainprm[0], 2.0);
EXPECT_EQ(actuator->gainprm[1], 0.05);
@@ -427,10 +425,9 @@ TEST_F(MujocoTest, SetToDCMotorDeriveKe) {
double resistance = 2.0;
double nominal[3] = {12.0, 0, 100.0}; // vn=12, omega0=100
const char* err = mjs_setToDCMotor(actuator, nullptr, resistance,
nominal, nullptr, nullptr,
nullptr, nullptr, nullptr,
nullptr, 0);
const char* err =
mjs_setToDCMotor(actuator, nullptr, resistance, nominal, nullptr, nullptr,
nullptr, nullptr, nullptr, nullptr, 0);
EXPECT_STREQ(err, "");
EXPECT_EQ(actuator->gainprm[0], 2.0);
EXPECT_NEAR(actuator->gainprm[1], 0.12, 1e-5);
@@ -447,10 +444,9 @@ TEST_F(MujocoTest, SetToDCMotorFull) {
double saturation[3] = {1.0, 2.0, 3.0};
double controller[6] = {10.0, 20.0, 30.0, 40.0, 50.0, 60.0};
const char* err = mjs_setToDCMotor(actuator, motorconst, resistance,
nullptr, saturation, nullptr,
nullptr, controller, nullptr,
nullptr, 0);
const char* err =
mjs_setToDCMotor(actuator, motorconst, resistance, nullptr, saturation,
nullptr, nullptr, controller, nullptr, nullptr, 0);
EXPECT_STREQ(err, "");
EXPECT_EQ(actuator->gainprm[0], 2.0); // resistance
EXPECT_EQ(actuator->gainprm[1], 0.05); // K
@@ -473,10 +469,9 @@ TEST_F(MujocoTest, SetToDCMotorLuGre) {
double resistance = 2.0;
double lugre[5] = {100.0, 1.0, 0.5, 0.7, 10.0};
const char* err = mjs_setToDCMotor(actuator, motorconst, resistance,
nullptr, nullptr, nullptr,
nullptr, nullptr, nullptr,
lugre, 0);
const char* err =
mjs_setToDCMotor(actuator, motorconst, resistance, nullptr, nullptr,
nullptr, nullptr, nullptr, nullptr, lugre, 0);
EXPECT_STREQ(err, "");
EXPECT_EQ(actuator->dynprm[5], 100.0); // stiffness
EXPECT_EQ(actuator->dynprm[6], 1.0); // damping
@@ -764,7 +759,6 @@ TEST_F(MujocoTest, ModifyShellInertiaFails) {
mj_deleteModel(model);
}
TEST_F(MujocoTest, RecompileEdit) {
static constexpr char xml[] = R"(
<mujoco>
@@ -778,18 +772,18 @@ TEST_F(MujocoTest, RecompileEdit) {
)";
std::array<char, 1000> er;
mjSpec *spec = mj_parseXMLString(xml, 0, er.data(), er.size());
mjSpec* spec = mj_parseXMLString(xml, 0, er.data(), er.size());
EXPECT_THAT(spec, NotNull()) << er.data();
mjModel *m1 = mj_compile(spec, nullptr);
mjModel* m1 = mj_compile(spec, nullptr);
EXPECT_THAT(m1, NotNull());
// add a geom
mjsBody *world = mjs_findBody(spec, "world");
mjsGeom *geom = mjs_addGeom(world, nullptr);
mjsBody* world = mjs_findBody(spec, "world");
mjsGeom* geom = mjs_addGeom(world, nullptr);
geom->size[0] = 1;
// compile again
mjModel *m2 = mj_compile(spec, nullptr);
mjModel* m2 = mj_compile(spec, nullptr);
EXPECT_THAT(m2, NotNull());
mj_deleteModel(m1);
@@ -837,43 +831,40 @@ TEST_F(MujocoTest, RecompileCompareObjCache) {
std::array<char, 1024> error;
// load model once
mjModel* m = LoadModelFromString(xml, error.data(), error.size(), vfs.get());
MjModelPtr m =
LoadModelFromString(xml, error.data(), error.size(), vfs.get());
EXPECT_EQ(m->mesh_vert[0], -0.5);
mj_deleteModel(m);
// update cube.obj, load again
mj_deleteFileVFS(vfs.get(), "cube.obj");
mj_addBufferVFS(vfs.get(), "cube.obj", cube2, sizeof(cube2));
m = LoadModelFromString(xml, error.data(), error.size(), vfs.get());
EXPECT_EQ(m->mesh_vert[0], -1);
mj_deleteModel(m);
mj_deleteVFS(vfs.get());
}
// tiny RGB 2 x 3 PNG file
static constexpr uint8_t tex1[] = {
0x89, 0x50, 0x4e, 0x47, 0x0d, 0x0a, 0x1a, 0x0a, 0x00, 0x00, 0x00, 0x0d,
0x49, 0x48, 0x44, 0x52, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x02,
0x08, 0x02, 0x00, 0x00, 0x00, 0x12, 0x16, 0xf1, 0x4d, 0x00, 0x00, 0x00,
0x1c, 0x49, 0x44, 0x41, 0x54, 0x08, 0xd7, 0x63, 0x78, 0xc1, 0xc0, 0xc0,
0xc0, 0xf0, 0xbf, 0xb8, 0xb8, 0x98, 0x81, 0xe1, 0x3f, 0xc3, 0xff, 0xff,
0xff, 0xc5, 0xc4, 0xc4, 0x00, 0x46, 0xd7, 0x07, 0x7f, 0xd2, 0x52, 0xa1,
0x41, 0x00, 0x00, 0x00, 0x00, 0x49, 0x45, 0x4e, 0x44, 0xae, 0x42, 0x60,
0x82
};
0x89, 0x50, 0x4e, 0x47, 0x0d, 0x0a, 0x1a, 0x0a, 0x00, 0x00, 0x00,
0x0d, 0x49, 0x48, 0x44, 0x52, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00,
0x00, 0x02, 0x08, 0x02, 0x00, 0x00, 0x00, 0x12, 0x16, 0xf1, 0x4d,
0x00, 0x00, 0x00, 0x1c, 0x49, 0x44, 0x41, 0x54, 0x08, 0xd7, 0x63,
0x78, 0xc1, 0xc0, 0xc0, 0xc0, 0xf0, 0xbf, 0xb8, 0xb8, 0x98, 0x81,
0xe1, 0x3f, 0xc3, 0xff, 0xff, 0xff, 0xc5, 0xc4, 0xc4, 0x00, 0x46,
0xd7, 0x07, 0x7f, 0xd2, 0x52, 0xa1, 0x41, 0x00, 0x00, 0x00, 0x00,
0x49, 0x45, 0x4e, 0x44, 0xae, 0x42, 0x60, 0x82};
// previous PNG file, but rotated by 180 degrees
static constexpr uint8_t tex2[] = {
0x89, 0x50, 0x4e, 0x47, 0x0d, 0x0a, 0x1a, 0x0a, 0x00, 0x00, 0x00, 0x0d,
0x49, 0x48, 0x44, 0x52, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x02,
0x08, 0x02, 0x00, 0x00, 0x00, 0x12, 0x16, 0xf1, 0x4d, 0x00, 0x00, 0x00,
0x1c, 0x49, 0x44, 0x41, 0x54, 0x08, 0xd7, 0x63, 0x10, 0x13, 0x13, 0xfb,
0xff, 0xff, 0x3f, 0xc3, 0x7f, 0x06, 0x96, 0xd8, 0xd8, 0x58, 0x46, 0x46,
0x86, 0x17, 0x0c, 0x0c, 0x00, 0x49, 0x22, 0x06, 0x44, 0xe4, 0x91, 0xb8,
0x83, 0x00, 0x00, 0x00, 0x00, 0x49, 0x45, 0x4e, 0x44, 0xae, 0x42, 0x60,
0x82
};
0x89, 0x50, 0x4e, 0x47, 0x0d, 0x0a, 0x1a, 0x0a, 0x00, 0x00, 0x00,
0x0d, 0x49, 0x48, 0x44, 0x52, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00,
0x00, 0x02, 0x08, 0x02, 0x00, 0x00, 0x00, 0x12, 0x16, 0xf1, 0x4d,
0x00, 0x00, 0x00, 0x1c, 0x49, 0x44, 0x41, 0x54, 0x08, 0xd7, 0x63,
0x10, 0x13, 0x13, 0xfb, 0xff, 0xff, 0x3f, 0xc3, 0x7f, 0x06, 0x96,
0xd8, 0xd8, 0x58, 0x46, 0x46, 0x86, 0x17, 0x0c, 0x0c, 0x00, 0x49,
0x22, 0x06, 0x44, 0xe4, 0x91, 0xb8, 0x83, 0x00, 0x00, 0x00, 0x00,
0x49, 0x45, 0x4e, 0x44, 0xae, 0x42, 0x60, 0x82};
TEST_F(MujocoTest, RecompileComparePngCache) {
static constexpr char xml[] = R"(
@@ -896,10 +887,10 @@ TEST_F(MujocoTest, RecompileComparePngCache) {
std::array<char, 1024> error;
// load model once
mjModel* m = LoadModelFromString(xml, error.data(), error.size(), vfs.get());
MjModelPtr m =
LoadModelFromString(xml, error.data(), error.size(), vfs.get());
EXPECT_EQ(m->ntexdata, 18); // w x h x rgb = 3 x 2 x 3
mjtByte byte = m->tex_data[0];
mj_deleteModel(m);
// update tex.png, load again
mj_deleteFileVFS(vfs.get(), "tex.png");
@@ -907,7 +898,6 @@ TEST_F(MujocoTest, RecompileComparePngCache) {
m = LoadModelFromString(xml, error.data(), error.size(), vfs.get());
EXPECT_NE(m->tex_data[0], byte);
EXPECT_EQ(m->tex_data[15], byte); // first pixel is now last pixel
mj_deleteModel(m);
mj_deleteVFS(vfs.get());
}
@@ -937,14 +927,13 @@ TEST_F(MujocoTest, DisableCache) {
std::array<char, 1024> error;
// load model once
mjModel* m = LoadModelFromString(xml, error.data(), error.size(), vfs.get());
MjModelPtr m =
LoadModelFromString(xml, error.data(), error.size(), vfs.get());
EXPECT_EQ(mj_getCacheSize(cache), 0);
EXPECT_EQ(m->ntexdata, 18); // w x h x rgb = 3 x 2 x 3
mj_setCacheCapacity(cache, capacity);
mj_deleteModel(m);
mj_deleteVFS(vfs.get());
}
@@ -1226,16 +1215,16 @@ TEST_F(MujocoTest, AttachSame) {
EXPECT_THAT(m_attached->body_parentid[4], 0);
// compare with expected XML
mjModel* m_expected = LoadModelFromString(xml_result, er.data(), er.size());
EXPECT_THAT(m_expected, NotNull()) << er.data();
EXPECT_LE(CompareModel(m_attached, m_expected, field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';;
MjModelPtr m_expected = LoadModelFromString(xml_result, er.data(), er.size());
EXPECT_THAT(m_expected.get(), NotNull()) << er.data();
EXPECT_LE(CompareModel(m_attached, m_expected.get(), field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
;
// destroy everything
mj_deleteSpec(parent);
mj_deleteModel(m_attached);
mj_deleteModel(m_expected);
}
TEST_F(MujocoTest, AttachSpatialTendonWithoutSidesite) {
@@ -1283,13 +1272,15 @@ TEST_F(MujocoTest, AttachSpatialTendonWithoutSidesite) {
mjsSite* attach_site = mjs_addSite(parent_body, 0);
mjs_setName(attach_site->element, "attach_site");
mjs_attach(attach_site->element,
mjs_findBody(child, "child_body")->element, "", "_child");
mjs_attach(attach_site->element, mjs_findBody(child, "child_body")->element,
"", "_child");
EXPECT_THAT(mjs_findElement(parent, mjOBJ_TENDON,
"tendon_with_sidesite_child"), NotNull());
EXPECT_THAT(mjs_findElement(parent, mjOBJ_TENDON,
"tendon_without_sidesite_child"), NotNull());
EXPECT_THAT(
mjs_findElement(parent, mjOBJ_TENDON, "tendon_with_sidesite_child"),
NotNull());
EXPECT_THAT(
mjs_findElement(parent, mjOBJ_TENDON, "tendon_without_sidesite_child"),
NotNull());
mjModel* model = mj_compile(parent, nullptr);
ASSERT_THAT(model, NotNull()) << mjs_getError(parent);
@@ -1335,11 +1326,9 @@ TEST_F(MujocoTest, AttachSpatialTendonGitHubIssue3119) {
</mujoco>)";
std::array<char, 1000> er;
mjSpec* parent_spec =
mj_parseXMLString(parent_xml, 0, er.data(), er.size());
mjSpec* parent_spec = mj_parseXMLString(parent_xml, 0, er.data(), er.size());
ASSERT_THAT(parent_spec, NotNull()) << er.data();
mjSpec* child_spec =
mj_parseXMLString(child_xml, 0, er.data(), er.size());
mjSpec* child_spec = mj_parseXMLString(child_xml, 0, er.data(), er.size());
ASSERT_THAT(child_spec, NotNull()) << er.data();
mjsBody* parent_body = mjs_findBody(parent_spec, "parent_body");
@@ -1348,13 +1337,14 @@ TEST_F(MujocoTest, AttachSpatialTendonGitHubIssue3119) {
mjs_setName(attach_site->element, "attach_site");
mjs_attach(attach_site->element,
mjs_findBody(child_spec, "child_body")->element,
"", "_child");
mjs_findBody(child_spec, "child_body")->element, "", "_child");
EXPECT_THAT(
mjs_findElement(parent_spec, mjOBJ_TENDON, "tendon_with_sidesite_child"),
NotNull());
EXPECT_THAT(mjs_findElement(parent_spec, mjOBJ_TENDON,
"tendon_with_sidesite_child"), NotNull());
EXPECT_THAT(mjs_findElement(parent_spec, mjOBJ_TENDON,
"tendon_without_sidesite_child"), NotNull());
"tendon_without_sidesite_child"),
NotNull());
mjModel* model = mj_compile(parent_spec, nullptr);
ASSERT_THAT(model, NotNull()) << mjs_getError(parent_spec);
@@ -1498,17 +1488,17 @@ TEST_F(MujocoTest, AttachDifferent) {
EXPECT_THAT(mjs_findDefault(parent, "attached-cylinder-1"), NotNull());
// compare with expected XML
mjModel* m_expected = LoadModelFromString(xml_result, er.data(), er.size());
EXPECT_THAT(m_expected, NotNull()) << er.data();
EXPECT_LE(CompareModel(m_attached, m_expected, field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';;
MjModelPtr m_expected = LoadModelFromString(xml_result, er.data(), er.size());
EXPECT_THAT(m_expected.get(), NotNull()) << er.data();
EXPECT_LE(CompareModel(m_attached, m_expected.get(), field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
;
// destroy everything
mj_deleteSpec(parent);
mj_deleteSpec(child);
mj_deleteModel(m_attached);
mj_deleteModel(m_expected);
}
TEST_F(MujocoTest, AttachFrame) {
@@ -1633,17 +1623,17 @@ TEST_F(MujocoTest, AttachFrame) {
EXPECT_THAT(m_attached->body_parentid[2], 1);
// compare with expected XML
mjModel* m_expected = LoadModelFromString(xml_result, er.data(), er.size());
EXPECT_THAT(m_expected, NotNull()) << er.data();
EXPECT_LE(CompareModel(m_attached, m_expected, field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';;
MjModelPtr m_expected = LoadModelFromString(xml_result, er.data(), er.size());
EXPECT_THAT(m_expected.get(), NotNull()) << er.data();
EXPECT_LE(CompareModel(m_attached, m_expected.get(), field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
;
// destroy everything
mj_deleteSpec(parent);
mj_deleteSpec(child);
mj_deleteModel(m_attached);
mj_deleteModel(m_expected);
}
TEST_F(MujocoTest, AttachCompiled) {
@@ -1691,8 +1681,8 @@ TEST_F(MujocoTest, AttachCompiled) {
// check that attached model can be compiled
mjModel* m_attached = mj_compile(parent, 0);
EXPECT_THAT(m_attached, NotNull()) <<
"Failed to compile attached model" << mjs_getError(parent);
EXPECT_THAT(m_attached, NotNull())
<< "Failed to compile attached model" << mjs_getError(parent);
// destroy everything
mj_deleteSpec(parent);
@@ -1758,24 +1748,23 @@ void TestDetachBody(bool compile) {
std::array<char, 1024> s;
EXPECT_EQ(mj_saveXMLString(child, s.data(), 1024, e.data(), 1024), -1);
EXPECT_THAT(e.data(), compile
? HasSubstr("Model has pending keyframes")
: HasSubstr("Only compiled model can be written"));
? HasSubstr("Model has pending keyframes")
: HasSubstr("Only compiled model can be written"));
// compile new model
mjModel* m_detached = mj_compile(child, 0);
EXPECT_THAT(m_detached, NotNull());
// compare with expected XML
mjModel* m_expected = LoadModelFromString(xml_result, er.data(), er.size());
EXPECT_THAT(m_expected, NotNull()) << er.data();
EXPECT_LE(CompareModel(m_detached, m_expected, field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
MjModelPtr m_expected = LoadModelFromString(xml_result, er.data(), er.size());
EXPECT_THAT(m_expected.get(), NotNull()) << er.data();
EXPECT_LE(CompareModel(m_detached, m_expected.get(), field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
// destroy everything
mj_deleteSpec(child);
mj_deleteModel(m_detached);
mj_deleteModel(m_expected);
if (m_child) mj_deleteModel(m_child);
}
@@ -1836,16 +1825,15 @@ TEST_F(MujocoTest, AttachToSite) {
mjModel* model = mj_compile(parent, 0);
EXPECT_THAT(model, NotNull());
mjModel* expected = LoadModelFromString(xml_result, er.data(), er.size());
EXPECT_THAT(expected, NotNull()) << er.data();
EXPECT_LE(CompareModel(model, expected, field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
MjModelPtr expected = LoadModelFromString(xml_result, er.data(), er.size());
EXPECT_THAT(expected.get(), NotNull()) << er.data();
EXPECT_LE(CompareModel(model, expected.get(), field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
mj_deleteSpec(parent);
mj_deleteSpec(child);
mj_deleteModel(model);
mj_deleteModel(expected);
}
TEST_F(MujocoTest, AttachFrameToSite) {
@@ -1902,16 +1890,15 @@ TEST_F(MujocoTest, AttachFrameToSite) {
mjModel* model = mj_compile(parent, 0);
EXPECT_THAT(model, NotNull());
mjModel* expected = LoadModelFromString(xml_result, er.data(), er.size());
EXPECT_THAT(expected, NotNull()) << er.data();
EXPECT_LE(CompareModel(model, expected, field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
MjModelPtr expected = LoadModelFromString(xml_result, er.data(), er.size());
EXPECT_THAT(expected.get(), NotNull()) << er.data();
EXPECT_LE(CompareModel(model, expected.get(), field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
mj_deleteSpec(parent);
mj_deleteSpec(child);
mj_deleteModel(model);
mj_deleteModel(expected);
}
TEST_F(MujocoTest, BodyToFrame) {
@@ -1991,18 +1978,17 @@ TEST_F(MujocoTest, BodyToFrame) {
// 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(model2, expected, field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
MjModelPtr expected = LoadModelFromString(xml_result, er.data(), er.size());
EXPECT_THAT(expected.get(), NotNull()) << er.data();
EXPECT_LE(CompareModel(model2, expected.get(), field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
mj_deleteSpec(parent);
mj_deleteSpec(child1);
mj_deleteSpec(child2);
mj_deleteModel(model1);
mj_deleteModel(model2);
mj_deleteModel(expected);
}
TEST_F(MujocoTest, BodyToFrameWithInertial) {
@@ -2100,11 +2086,11 @@ TEST_F(MujocoTest, AttachSpecToSite) {
// compile and compare
mjModel* model = mj_compile(parent, 0);
EXPECT_THAT(model, NotNull());
mjModel* expected = LoadModelFromString(xml_result, er.data(), er.size());
EXPECT_THAT(expected, NotNull()) << er.data();
EXPECT_LE(CompareModel(model, expected, field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
MjModelPtr expected = LoadModelFromString(xml_result, er.data(), er.size());
EXPECT_THAT(expected.get(), NotNull()) << er.data();
EXPECT_LE(CompareModel(model, expected.get(), field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
// check that the child world still exists
mjsBody* child_world = mjs_findBody(child, "world");
@@ -2113,7 +2099,6 @@ TEST_F(MujocoTest, AttachSpecToSite) {
mj_deleteSpec(parent);
mj_deleteSpec(child);
mj_deleteModel(model);
mj_deleteModel(expected);
}
TEST_F(MujocoTest, AttachSpecToBody) {
@@ -2181,11 +2166,11 @@ TEST_F(MujocoTest, AttachSpecToBody) {
// compile and compare
mjModel* model = mj_compile(parent, 0);
EXPECT_THAT(model, NotNull());
mjModel* expected = LoadModelFromString(xml_result, er.data(), er.size());
EXPECT_THAT(expected, NotNull()) << er.data();
EXPECT_LE(CompareModel(model, expected, field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
MjModelPtr expected = LoadModelFromString(xml_result, er.data(), er.size());
EXPECT_THAT(expected.get(), NotNull()) << er.data();
EXPECT_LE(CompareModel(model, expected.get(), field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
// check that the child world still exists
mjsBody* child_world = mjs_findBody(child, "world");
@@ -2194,7 +2179,6 @@ TEST_F(MujocoTest, AttachSpecToBody) {
mj_deleteSpec(parent);
mj_deleteSpec(child);
mj_deleteModel(model);
mj_deleteModel(expected);
}
TEST_F(MujocoTest, PreserveState) {
@@ -2246,31 +2230,32 @@ TEST_F(MujocoTest, PreserveState) {
// compile models
mjModel* model = mj_compile(spec, 0);
EXPECT_THAT(model, NotNull());
mjModel* m_expected = LoadModelFromString(xml_expected, er.data(), er.size());
EXPECT_THAT(m_expected, NotNull());
MjModelPtr m_expected =
LoadModelFromString(xml_expected, er.data(), er.size());
EXPECT_THAT(m_expected.get(), NotNull());
// create data
mjData* data = mj_makeData(model);
EXPECT_THAT(data, NotNull());
mjData* d_expected = mj_makeData(m_expected);
EXPECT_THAT(d_expected, NotNull());
MjDataPtr d_expected = MakeData(m_expected);
EXPECT_THAT(d_expected.get(), NotNull());
// set ctrl
data->ctrl[0] = 1;
data->ctrl[1] = 2;
d_expected->ctrl[0] = 2;
d_expected.get()->ctrl[0] = 2;
// set mocap
data->mocap_pos[3] = 1;
data->mocap_quat[4] = 0;
data->mocap_quat[5] = 1;
d_expected->mocap_pos[0] = 1;
d_expected->mocap_quat[0] = 0;
d_expected->mocap_quat[1] = 1;
d_expected.get()->mocap_pos[0] = 1;
d_expected.get()->mocap_quat[0] = 0;
d_expected.get()->mocap_quat[1] = 1;
// step models
mj_step(model, data);
mj_step(m_expected, d_expected);
mj_step(m_expected.get(), d_expected.get());
EXPECT_THAT(data->time, model->opt.timestep);
// detach subtree
@@ -2298,7 +2283,7 @@ TEST_F(MujocoTest, PreserveState) {
joint->axis[0] = 0;
joint->axis[1] = 0;
joint->axis[2] = 1;
joint->ref = d_expected->qpos[m_expected->nq-1];
joint->ref = d_expected.get()->qpos[m_expected->nq - 1];
// compile new model
mj_recompile(spec, 0, model, data);
@@ -2308,32 +2293,36 @@ TEST_F(MujocoTest, PreserveState) {
// compare qpos
EXPECT_EQ(model->nq, m_expected->nq);
for (int i = 0; i < model->nq; ++i) {
EXPECT_EQ(data->qpos[i], d_expected->qpos[i]) << i;
EXPECT_EQ(data->qpos[i], d_expected.get()->qpos[i]) << i;
}
// compare qvel
EXPECT_EQ(model->nv, m_expected->nv);
for (int i = 0; i < model->nv-1; ++i) {
EXPECT_EQ(data->qvel[i], d_expected->qvel[i]) << i;
for (int i = 0; i < model->nv - 1; ++i) {
EXPECT_EQ(data->qvel[i], d_expected.get()->qvel[i]) << i;
}
// second body was added after stepping so qvel should be zero
EXPECT_EQ(data->qvel[model->nv-1], 0);
EXPECT_EQ(data->qvel[model->nv - 1], 0);
// compare act
EXPECT_EQ(model->na, m_expected->na);
for (int i = 0; i < model->na; ++i) {
EXPECT_EQ(data->act[i], d_expected->act[i]) << i;
EXPECT_EQ(data->act[i], d_expected.get()->act[i]) << i;
}
// compare mocap
EXPECT_EQ(model->nmocap, m_expected->nmocap);
for (int i = 0; i < model->nmocap; ++i) {
for (int j = 0; j < 3; ++j) {
EXPECT_EQ(data->mocap_pos[3*i+j], d_expected->mocap_pos[3*i+j]) << i;
EXPECT_EQ(data->mocap_pos[3 * i + j],
d_expected.get()->mocap_pos[3 * i + j])
<< i;
}
for (int j = 0; j < 4; ++j) {
EXPECT_EQ(data->mocap_quat[4*i+j], d_expected->mocap_quat[4*i+j]) << i;
EXPECT_EQ(data->mocap_quat[4 * i + j],
d_expected.get()->mocap_quat[4 * i + j])
<< i;
}
}
@@ -2342,10 +2331,8 @@ TEST_F(MujocoTest, PreserveState) {
mj_recompile(spec, 0, model, nullptr);
// destroy everything
mj_deleteData(d_expected);
mj_deleteSpec(spec);
mj_deleteModel(model);
mj_deleteModel(m_expected);
}
TEST_F(MujocoTest, RecompileAttach) {
@@ -2445,15 +2432,15 @@ TEST_F(MujocoTest, AttachMocap) {
mjModel* model = mj_compile(spec, 0);
EXPECT_THAT(model, NotNull());
mjModel* m_expected = LoadModelFromString(xml_expected, er.data(), er.size());
EXPECT_THAT(m_expected, NotNull()) << er.data();
EXPECT_LE(CompareModel(model, m_expected, field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
MjModelPtr m_expected =
LoadModelFromString(xml_expected, er.data(), er.size());
EXPECT_THAT(m_expected.get(), NotNull()) << er.data();
EXPECT_LE(CompareModel(model, m_expected.get(), field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
mj_deleteSpec(spec);
mj_deleteModel(model);
mj_deleteModel(m_expected);
}
TEST_F(MujocoTest, ReplicateKeyframe) {
@@ -2475,8 +2462,8 @@ TEST_F(MujocoTest, ReplicateKeyframe) {
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, testing::NotNull()) << error.data();
MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m.get(), testing::NotNull()) << error.data();
EXPECT_THAT(m->ngeom, 1);
EXPECT_THAT(m->nbody, 2);
@@ -2485,10 +2472,8 @@ TEST_F(MujocoTest, ReplicateKeyframe) {
EXPECT_THAT(m->nq, 1);
EXPECT_THAT(m->key_qpos[0], 1);
EXPECT_THAT(m->key_qpos[1], 0);
EXPECT_STREQ(mj_id2name(m, mjOBJ_KEY, 0), "keyframe0");
EXPECT_STREQ(mj_id2name(m, mjOBJ_KEY, 1), "keyframe");
mj_deleteModel(m);
EXPECT_STREQ(mj_id2name(m.get(), mjOBJ_KEY, 0), "keyframe0");
EXPECT_STREQ(mj_id2name(m.get(), mjOBJ_KEY, 1), "keyframe");
}
TEST_F(MujocoTest, AttachUnnamedAssets) {
@@ -2690,17 +2675,17 @@ void AttachNestedKeyframe(bool compile) {
std::string field = "";
mjModel* m_attached = mj_compile(parent, 0);
EXPECT_THAT(m_attached, NotNull());
mjModel* m_expected = LoadModelFromString(
MjModelPtr m_expected = LoadModelFromString(
compile ? expected_xml : expected_xml_uncompiled, er.data(), er.size());
EXPECT_THAT(m_expected, NotNull()) << er.data();
EXPECT_LE(CompareModel(m_attached, m_expected, field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';;
EXPECT_THAT(m_expected.get(), NotNull()) << er.data();
EXPECT_LE(CompareModel(m_attached, m_expected.get(), field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
;
mj_deleteSpec(parent);
mj_deleteSpec(child);
mj_deleteSpec(gchild);
mj_deleteModel(m_expected);
mj_deleteModel(m_attached);
mj_deleteModel(m_child);
}
@@ -2736,30 +2721,30 @@ TEST_F(MujocoTest, RepeatedAttachKeyframe) {
</keyframe>
</mujoco>)";
std::array<char, 1000> er;
mjSpec* parent = mj_parseXMLString(xml_1, 0, er.data(), er.size());
EXPECT_THAT(parent, NotNull()) << er.data();
mjSpec* child = mj_parseXMLString(xml_2, 0, er.data(), er.size());
EXPECT_THAT(child, NotNull()) << er.data();
std::array<char, 1000> er;
mjSpec* parent = mj_parseXMLString(xml_1, 0, er.data(), er.size());
EXPECT_THAT(parent, NotNull()) << er.data();
mjSpec* child = mj_parseXMLString(xml_2, 0, er.data(), er.size());
EXPECT_THAT(child, NotNull()) << er.data();
mjsBody* body_1 = mjs_findBody(parent, "body");
mjsElement* attachment_frame = mjs_addFrame(body_1, 0)->element;
mjs_attach(attachment_frame, mjs_findBody(child, "b1")->element, "b1-", "");
mjModel* model_1 = mj_compile(parent, 0);
EXPECT_THAT(model_1, NotNull());
mjs_attach(attachment_frame, mjs_findBody(child, "b2")->element, "b2-", "");
mjModel* model_2 = mj_compile(parent, 0);
EXPECT_THAT(model_2, NotNull());
mjsBody* body_1 = mjs_findBody(parent, "body");
mjsElement* attachment_frame = mjs_addFrame(body_1, 0)->element;
mjs_attach(attachment_frame, mjs_findBody(child, "b1")->element, "b1-", "");
mjModel* model_1 = mj_compile(parent, 0);
EXPECT_THAT(model_1, NotNull());
mjs_attach(attachment_frame, mjs_findBody(child, "b2")->element, "b2-", "");
mjModel* model_2 = mj_compile(parent, 0);
EXPECT_THAT(model_2, NotNull());
EXPECT_EQ(model_1->nkey, 1);
EXPECT_EQ(model_2->nkey, 2);
EXPECT_STREQ(mj_id2name(model_2, mjOBJ_KEY, 0), "b1-home");
EXPECT_STREQ(mj_id2name(model_2, mjOBJ_KEY, 1), "b2-home");
EXPECT_EQ(model_1->nkey, 1);
EXPECT_EQ(model_2->nkey, 2);
EXPECT_STREQ(mj_id2name(model_2, mjOBJ_KEY, 0), "b1-home");
EXPECT_STREQ(mj_id2name(model_2, mjOBJ_KEY, 1), "b2-home");
mj_deleteSpec(parent);
mj_deleteSpec(child);
mj_deleteModel(model_1);
mj_deleteModel(model_2);
mj_deleteSpec(parent);
mj_deleteSpec(child);
mj_deleteModel(model_1);
mj_deleteModel(model_2);
}
TEST_F(MujocoTest, ResizeParentKeyframe) {
@@ -2820,16 +2805,15 @@ TEST_F(MujocoTest, ResizeParentKeyframe) {
mjtNum tol = 0;
std::string field = "";
mjModel* expected = LoadModelFromString(xml_expected, er.data(), er.size());
EXPECT_THAT(expected, NotNull()) << er.data();
EXPECT_LE(CompareModel(model, expected, field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
MjModelPtr expected = LoadModelFromString(xml_expected, er.data(), er.size());
EXPECT_THAT(expected.get(), NotNull()) << er.data();
EXPECT_LE(CompareModel(model, expected.get(), field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
mj_deleteSpec(parent);
mj_deleteSpec(child);
mj_deleteModel(model);
mj_deleteModel(expected);
}
TEST_F(MujocoTest, KeyframeSizeError) {
@@ -2854,8 +2838,10 @@ TEST_F(MujocoTest, KeyframeSizeError) {
std::array<char, 1000> er;
mjSpec* spec = mj_parseXMLString(xml, 0, er.data(), er.size());
EXPECT_THAT(spec, IsNull());
EXPECT_THAT(er.data(), HasSubstr(
"Keyframe 'invalid_qpos' has invalid qpos size, got 2, should be 1"));
EXPECT_THAT(
er.data(),
HasSubstr(
"Keyframe 'invalid_qpos' has invalid qpos size, got 2, should be 1"));
}
TEST_F(MujocoTest, DifferentUnitsAllowed) {
@@ -2899,8 +2885,7 @@ TEST_F(MujocoTest, DifferentUnitsAllowed) {
)";
std::array<char, 1024> error;
mjSpec* gchild =
mj_parseXMLString(gchild_xml, 0, error.data(), error.size());
mjSpec* gchild = mj_parseXMLString(gchild_xml, 0, error.data(), error.size());
mjSpec* child = mj_parseXMLString(child_xml, 0, error.data(), error.size());
mjSpec* spec = mj_parseXMLString(parent_xml, 0, error.data(), error.size());
ASSERT_THAT(spec, NotNull()) << error.data();