chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
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) {