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Sensors of type user no longer require objtype and objname. If unspecified, the objtype will be mjOBJ_UNKNOWN. Also, `user sensors datatype default is now "real"`.

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PiperOrigin-RevId: 489652972
Change-Id: I0a8f21ee1a2f5292e6bbcfe3785536cfd1498b85
This commit is contained in:
Yuval Tassa
2022-11-19 02:04:53 -08:00
committed by Copybara-Service
parent 6f2092bef2
commit 221c63d744
8 changed files with 96 additions and 14 deletions
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test/xml/xml_native_reader_test.cc
+32
View File
@@ -935,6 +935,38 @@ TEST_F(ActuatorParseTest, ActdimDefaultsPropagate) {
mj_deleteModel(model);
}
// ------------- test sensor parsing -------------------------------------------
using SensorParseTest = MujocoTest;
TEST_F(SensorParseTest, UserObjTypeNoName) {
static constexpr char xml[] = R"(
<mujoco>
<sensor>
<user dim="1" needstage="vel" objtype="site"/>
</sensor>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("objtype 'site' given but"));
}
TEST_F(SensorParseTest, UserObjNameNoType) {
static constexpr char xml[] = R"(
<mujoco>
<sensor>
<user dim="1" needstage="vel" objname="kevin"/>
</sensor>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("objname 'kevin' given but"));
}
// ------------- test general parsing ------------------------------------------
TEST_F(XMLReaderTest, ZnearZeroNotAllowed) {
test/xml/xml_native_writer_test.cc
+18
View File
@@ -129,6 +129,24 @@ TEST_F(XMLWriterTest, SavesDisableSensor) {
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, EmptyUserSensor) {
static constexpr char xml[] = R"(
<mujoco>
<sensor>
<user dim="2" needstage="vel"/>
</sensor>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("dim=\"2\""));
EXPECT_THAT(saved_xml, HasSubstr("needstage=\"vel\""));
EXPECT_THAT(saved_xml, HasSubstr("datatype=\"real\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("objtype")));
EXPECT_THAT(saved_xml, Not(HasSubstr("objname")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, KeepsEmptyClasses) {
static constexpr char xml[] = R"(
<mujoco>