Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
2022-05-23 01:08:10 -07:00
parent 0e5d062302
commit 1913a02b40
275 changed files with 99607 additions and 935 deletions
@@ -0,0 +1,69 @@
+// Copyright 2021 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+// Tests for xml/xml_api.cc.
+
+#include <cstddef>
+#include <cstring>
+#include <string>
+
+#include <gmock/gmock.h>
+#include <gtest/gtest.h>
+#include <mujoco/mjdata.h>
+#include <mujoco/mjmodel.h>
+#include <mujoco/mujoco.h>
+#include "test/fixture.h"
+
+namespace mujoco {
+namespace {
+
+using ::testing::IsNull;
+using ::testing::NotNull;
+
+// ---------------------------- test mj_loadXML --------------------------------
+
+using LoadXmlTest = MujocoTest;
+
+TEST_F(LoadXmlTest, EmptyModel) {
+  static constexpr char xml[] = "<mujoco/>";
+  mjModel* model = LoadModelFromString(xml, 0, 0);
+  ASSERT_THAT(model, 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);
+  EXPECT_THAT(data, NotNull());
+  mj_step(model, data);
+  mj_deleteData(data);
+  mj_deleteModel(model);
+}
+
+TEST_F(LoadXmlTest, InvalidXmlFailsToLoad) {
+  static constexpr char invalid_xml[] = "<mujoc";
+  char error[1024];
+  size_t error_sz = 1024;
+  mjModel* model = LoadModelFromString(invalid_xml, error, error_sz);
+  EXPECT_THAT(model, IsNull()) << "Expected model loading to fail.";
+  EXPECT_GT(std::strlen(error), 0);
+  if (model) {
+    mj_deleteModel(model);
+  }
+}
+// TODO(nimrod): Add more tests for mj_loadXML.
+
+}  // namespace
+}  // namespace mujoco