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Added functionality for user payload data in mjSpec.

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PiperOrigin-RevId: 738343134
Change-Id: I6217362ced9993afcd5a2914c78718ffe3bf753a
This commit is contained in:
Alessio Quaglino
2025-03-19 04:35:12 -07:00
committed by Copybara-Service
parent dc50fbbb9b
commit 209d2bd2c5
9 changed files with 184 additions and 2 deletions
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test/user/user_api_test.cc
+15
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@@ -2585,5 +2585,20 @@ TEST_F(MujocoTest, SetFrameReverseOrder) {
mj_deleteSpec(copy);
}
TEST_F(MujocoTest, UserValue) {
mjSpec* spec = mj_makeSpec();
EXPECT_THAT(spec, NotNull());
mjsBody* body = mjs_addBody(mjs_findBody(spec, "world"), nullptr);
EXPECT_THAT(body, NotNull());
std::string data = "data";
mjs_setUserValue(body->element, "key", data.data());
EXPECT_THAT(mjs_getUserValue(body->element, "invalid_key"), IsNull());
const void* payload = mjs_getUserValue(body->element, "key");
EXPECT_STREQ(static_cast<const char*>(payload), data.c_str());
mjs_deleteUserValue(body->element, "key");
EXPECT_THAT(mjs_getUserValue(body->element, "key"), IsNull());
mj_deleteSpec(spec);
}
} // namespace
} // namespace mujoco