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Refactor user codebase to use LoadResource helper method.

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* Fix small bug when registering resource providers.
* Add test cases for OS filesystem fallback with VFS.
* Rewrite LoadModelFromString using a resource provider (now can pass custom VFSs).

PiperOrigin-RevId: 526959705
Change-Id: Iee1773e5584535d868aab6b206d1bf362e600c8a
This commit is contained in:
Kyle Bayes
2023-04-25 07:23:53 -07:00
committed by Copybara-Service
parent c2115a1f51
commit 23961e24b7
10 changed files with 446 additions and 274 deletions
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test/engine/engine_sensor_test.cc
+9 -9
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@@ -55,7 +55,7 @@ TEST_F(SensorTest, DisableSensors) {
</sensor>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml, 0, 0);
mjModel* model = LoadModelFromString(xml);
mjData* data = mj_makeData(model);
// before calling anything, check that sensors are initialised to 0
@@ -105,7 +105,7 @@ TEST_F(RelativeFrameSensorTest, ReferencePosMat) {
</sensor>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml, 0, 0);
mjModel* model = LoadModelFromString(xml);
mjData* data = mj_makeData(model);
mj_forward(model, data);
@@ -143,7 +143,7 @@ TEST_F(RelativeFrameSensorTest, ReferenceQuatMat) {
</sensor>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml, 0, 0);
mjModel* model = LoadModelFromString(xml);
mjData* data = mj_makeData(model);
// call mj_forward and convert orientation matrix to quaternion
@@ -190,7 +190,7 @@ TEST_F(RelativeFrameSensorTest, ReferencePosMatQuat) {
</sensor>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml, 0, 0);
mjModel* model = LoadModelFromString(xml);
constexpr int nsensordata = 32;
ASSERT_EQ(model->nsensordata, nsensordata);
mjData* data = mj_makeData(model);
@@ -240,7 +240,7 @@ TEST_F(RelativeFrameSensorTest, FrameVelLinearFixed) {
</sensor>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml, 0, 0);
mjModel* model = LoadModelFromString(xml);
mjData* data = mj_makeData(model);
data->qvel[0] = mju_sqrt(2);
data->qvel[1] = 1;
@@ -272,7 +272,7 @@ TEST_F(RelativeFrameSensorTest, FrameVelAngFixed) {
</sensor>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml, 0, 0);
mjModel* model = LoadModelFromString(xml);
mjData* data = mj_makeData(model);
// set joint velocities and call forward dynamics
@@ -307,7 +307,7 @@ TEST_F(RelativeFrameSensorTest, FrameVelAngOpposing) {
</sensor>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml, 0, 0);
mjModel* model = LoadModelFromString(xml);
mjData* data = mj_makeData(model);
// set joint velocities and call forward dynamics
@@ -350,7 +350,7 @@ TEST_F(RelativeFrameSensorTest, FrameVelGeneral) {
</sensor>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml, 0, 0);
mjModel* model = LoadModelFromString(xml);
mjData* data = mj_makeData(model);
mjtNum dt = 1e-6; // timestep used for finite differencing
@@ -411,7 +411,7 @@ TEST_F(SensorTest, Clock) {
</sensor>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml, 0, 0);
mjModel* model = LoadModelFromString(xml);
mjData* data = mj_makeData(model);
// call step 4 times, checking that clock works as expected