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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/xml/xml_api_test.cc
+33 -33
View File
@@ -14,6 +14,8 @@
// Tests for xml/xml_api.cc.
#include "src/xml/xml_api.h"
#include <array>
#include <cstddef>
#include <cstring>
@@ -23,18 +25,17 @@
#include <gtest/gtest.h>
#include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mujoco.h>
#include <mujoco/mjspec.h>
#include "src/xml/xml_api.h"
#include <mujoco/mujoco.h>
#include "test/fixture.h"
namespace mujoco {
namespace {
using ::testing::HasSubstr;
using ::testing::IsNull;
using ::testing::NotNull;
using ::testing::StartsWith;
using ::testing::HasSubstr;
static constexpr char xml[] = R"(
<mujoco>
@@ -57,62 +58,56 @@ using LoadXmlTest = MujocoTest;
TEST_F(LoadXmlTest, EmptyModel) {
static constexpr char xml[] = "<mujoco/>";
mjModel* model = LoadModelFromString(xml, 0, 0);
ASSERT_THAT(model, NotNull());
MjModelPtr model = LoadModelFromString(xml, 0, 0);
ASSERT_THAT(model.get(), NotNull());
EXPECT_EQ(model->nq, 0);
EXPECT_EQ(model->nv, 0);
EXPECT_EQ(model->nu, 0);
EXPECT_EQ(model->na, 0);
EXPECT_EQ(model->nbody, 1); // worldbody exists even in empty model
mjData* data = mj_makeData(model);
MjDataPtr data = MakeData(model);
EXPECT_THAT(data, NotNull());
mj_step(model, data);
mj_deleteData(data);
mj_deleteModel(model);
mj_step(model.get(), data.get());
}
TEST_F(LoadXmlTest, InvalidXmlFailsToLoad) {
static constexpr char invalid_xml[] = "<mujoc";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(invalid_xml, error.data(), error.size());
EXPECT_THAT(model, IsNull()) << "Expected model loading to fail.";
MjModelPtr model =
LoadModelFromString(invalid_xml, error.data(), error.size());
EXPECT_THAT(model.get(), IsNull()) << "Expected model loading to fail.";
EXPECT_GT(std::strlen(error.data()), 0);
if (model) {
mj_deleteModel(model);
if (model.get()) {
}
}
TEST_F(LoadXmlTest, MultipleBodies) {
std::array<char, 1000> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
ASSERT_THAT(model.get(), NotNull())
<< "Failed to load model: " << error.data();
EXPECT_EQ(model->nbody, 3);
mjData* data = mj_makeData(model);
MjDataPtr data = MakeData(model);
EXPECT_THAT(data, NotNull());
mj_step(model, data);
mj_deleteData(data);
mj_deleteModel(model);
mj_step(model.get(), data.get());
}
using SaveLastXmlTest = MujocoTest;
TEST_F(SaveLastXmlTest, EmptyModel) {
static constexpr char xml[] = "<mujoco/>";
mjModel* model = LoadModelFromString(xml, 0, 0);
mjData* data = mj_makeData(model);
MjModelPtr model = LoadModelFromString(xml, 0, 0);
MjDataPtr data = MakeData(model);
std::array<char, 1024> error;
error.data()[0] = '\0';
testing::internal::CaptureStdout();
mj_saveLastXML(nullptr, model, error.data(), error.size());
mj_saveLastXML(nullptr, model.get(), error.data(), error.size());
EXPECT_THAT(testing::internal::GetCapturedStdout(), StartsWith("<mujoco"));
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(LoadXmlTest, NullFileFails) {
@@ -138,8 +133,9 @@ TEST_F(MujocoTest, SaveXmlShortString) {
EXPECT_THAT(model, NotNull()) << "Failed to compile model: " << error.data();
std::array<char, 10> out;
EXPECT_THAT(mj_saveXMLString(spec, out.data(), out.size(),
error.data(), error.size()), 273);
EXPECT_THAT(mj_saveXMLString(spec, out.data(), out.size(), error.data(),
error.size()),
273);
EXPECT_STREQ(error.data(), "Output string too short, should be at least 274");
mj_deleteSpec(spec);
@@ -156,10 +152,13 @@ TEST_F(MujocoTest, SaveXml) {
std::array<char, 274> out;
EXPECT_THAT(mj_saveXMLString(NULL, out.data(), out.size(), error.data(),
error.size()), -1);
error.size()),
-1);
EXPECT_STREQ(error.data(), "Cannot write empty model");
EXPECT_THAT(mj_saveXMLString(spec, out.data(), out.size(), error.data(),
error.size()), 0) << error.data();
error.size()),
0)
<< error.data();
mjSpec* saved_spec = mj_parseXMLString(xml, 0, error.data(), error.size());
EXPECT_THAT(saved_spec, NotNull()) << "Invalid saved spec: " << error.data();
@@ -197,7 +196,9 @@ TEST_F(MujocoTest, SaveXmlWithDefaultMesh) {
std::array<char, 1024> out;
EXPECT_THAT(mj_saveXMLString(spec, out.data(), out.size(), error.data(),
error.size()), 0) << error.data();
error.size()),
0)
<< error.data();
mjSpec* saved_spec = mj_parseXMLString(xml, 0, error.data(), error.size());
EXPECT_THAT(saved_spec, NotNull()) << "Invalid saved spec: " << error.data();
@@ -215,9 +216,8 @@ TEST_F(MujocoTest, SaveXmlWithDefaultMesh) {
TEST_F(MujocoTest, FreeLastXml) {
static constexpr char xml[] = "<mujoco/>";
mjModel* model = LoadModelFromString(xml, 0, 0);
ASSERT_THAT(model, NotNull());
mj_deleteModel(model);
MjModelPtr model = LoadModelFromString(xml, 0, 0);
ASSERT_THAT(model.get(), NotNull());
ASSERT_NE(mj_saveLastXML(nullptr, nullptr, nullptr, 0), 0);
mj_freeLastXML();
ASSERT_EQ(mj_saveLastXML(nullptr, nullptr, nullptr, 0), 0);
test/xml/xml_native_reader_test.cc
+255 -338
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File diff suppressed because it is too large Load Diff
test/xml/xml_native_writer_test.cc
+205 -284
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File diff suppressed because it is too large Load Diff
test/xml/xml_urdf_test.cc
+15 -24
View File
@@ -45,9 +45,8 @@ TEST_F(MujocoTest, ReadsCapsule) {
</robot>
)";
std::array<char, 1000> error;
mjModel* model = LoadModelFromString(urdf, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
mj_deleteModel(model);
MjModelPtr model = LoadModelFromString(urdf, error.data(), error.size());
ASSERT_THAT(model.get(), NotNull()) << error.data();
}
TEST_F(MujocoTest, ReadsGeomNames) {
@@ -74,19 +73,17 @@ TEST_F(MujocoTest, ReadsGeomNames) {
</robot>
)";
std::array<char, 1000> error;
mjModel* model = LoadModelFromString(urdf, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
MjModelPtr model = LoadModelFromString(urdf, error.data(), error.size());
ASSERT_THAT(model.get(), NotNull()) << error.data();
// Check the geoms have been loaded with the right names
int collision_box_id = mj_name2id(model, mjtObj::mjOBJ_GEOM, "collision_box");
int collision_box_id = mj_name2id(model.get(), mjtObj::mjOBJ_GEOM, "collision_box");
ASSERT_GE(collision_box_id, 0);
EXPECT_EQ(model->geom_type[collision_box_id], mjtGeom::mjGEOM_BOX);
int visual_sphere_id = mj_name2id(model, mjtObj::mjOBJ_GEOM, "visual_sphere");
int visual_sphere_id = mj_name2id(model.get(), mjtObj::mjOBJ_GEOM, "visual_sphere");
ASSERT_GE(visual_sphere_id, 0);
EXPECT_EQ(model->geom_type[visual_sphere_id], mjtGeom::mjGEOM_SPHERE);
mj_deleteModel(model);
}
TEST_F(MujocoTest, CanLoadUrdfWithNonUniqueNamesCollisionBeforeVisual) {
@@ -113,16 +110,14 @@ TEST_F(MujocoTest, CanLoadUrdfWithNonUniqueNamesCollisionBeforeVisual) {
</robot>
)";
std::array<char, 1000> error;
mjModel* model = LoadModelFromString(urdf, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
MjModelPtr model = LoadModelFromString(urdf, error.data(), error.size());
ASSERT_THAT(model.get(), NotNull()) << error.data();
// Check the collision geom gets its name from the URDF. The visual sphere
// should not have a name to avoid duplicates.
int collision_box_id = mj_name2id(model, mjtObj::mjOBJ_GEOM, "shared_name");
int collision_box_id = mj_name2id(model.get(), mjtObj::mjOBJ_GEOM, "shared_name");
ASSERT_GE(collision_box_id, 0);
EXPECT_EQ(model->geom_type[collision_box_id], mjtGeom::mjGEOM_BOX);
mj_deleteModel(model);
}
TEST_F(MujocoTest, CanLoadUrdfWithNonUniqueNamesVisualBeforeCollision) {
@@ -149,16 +144,14 @@ TEST_F(MujocoTest, CanLoadUrdfWithNonUniqueNamesVisualBeforeCollision) {
</robot>
)";
std::array<char, 1000> error;
mjModel* model = LoadModelFromString(urdf, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
MjModelPtr model = LoadModelFromString(urdf, error.data(), error.size());
ASSERT_THAT(model.get(), NotNull()) << error.data();
// Check the visual geom gets its name from the URDF. The collision geom
// should not have a name to avoid duplicates.
int visual_sphere_id = mj_name2id(model, mjtObj::mjOBJ_GEOM, "shared_name");
int visual_sphere_id = mj_name2id(model.get(), mjtObj::mjOBJ_GEOM, "shared_name");
ASSERT_GE(visual_sphere_id, 0);
EXPECT_EQ(model->geom_type[visual_sphere_id], mjtGeom::mjGEOM_SPHERE);
mj_deleteModel(model);
}
TEST_F(MujocoTest, ReadsJointTypes) {
@@ -226,8 +219,8 @@ TEST_F(MujocoTest, ReadsJointTypes) {
</robot>
)";
std::array<char, 1000> error;
mjModel* model = LoadModelFromString(urdf, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
MjModelPtr model = LoadModelFromString(urdf, error.data(), error.size());
ASSERT_THAT(model.get(), NotNull()) << error.data();
constexpr float eps = 1e-6;
@@ -241,14 +234,12 @@ TEST_F(MujocoTest, ReadsJointTypes) {
{0.0, 0.0, 1.0}
};
for (int i = 0; i < joint_names.size(); ++i) {
int id = mj_name2id(model, mjtObj::mjOBJ_JOINT, joint_names[i].c_str());
int id = mj_name2id(model.get(), mjtObj::mjOBJ_JOINT, joint_names[i].c_str());
EXPECT_EQ(model->jnt_type[id], expected_joint_types[i]);
EXPECT_NEAR(model->jnt_axis[3 * id], expected_axis[i][0], eps);
EXPECT_NEAR(model->jnt_axis[3 * id + 1], expected_axis[i][1], eps);
EXPECT_NEAR(model->jnt_axis[3 * id + 2], expected_axis[i][2], eps);
}
mj_deleteModel(model);
}
TEST_F(MujocoTest, RepeatedMeshName) {