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PiperOrigin-RevId: 809074980
Change-Id: Ib3e3522addceddba6a057cfef80fcbd30a420b3d
This commit is contained in:
Google DeepMind
2025-09-19 09:48:10 -07:00
committed by Copybara-Service
parent 77e025ea98
commit 26ea20a21f
16 changed files with 79 additions and 98 deletions
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test/user/user_api_test.cc
+2 -2
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@@ -2631,7 +2631,7 @@ TEST_F(MujocoTest, DifferentOptionsInAttachedFrame) {
mj_deleteModel(m_attached);
}
TEST_F(MujocoTest, NotCopyAttachedSpec) {
TEST_F(MujocoTest, CopyAttachedSpec) {
static constexpr char xml_parent[] = R"(
<mujoco>
<asset>
@@ -2675,7 +2675,7 @@ TEST_F(MujocoTest, NotCopyAttachedSpec) {
mjSpec* child_copy = mjs_findSpec(copy, "child");
EXPECT_THAT(child_copy, NotNull());
EXPECT_EQ(child_copy, child);
EXPECT_NE(child_copy, child);
mj_deleteSpec(spec);
mj_deleteSpec(copy);
test/user/user_model_test.cc
+2 -2
View File
@@ -781,7 +781,7 @@ TEST_F(MujocoTest, Modeldir) {
mjsMesh* mesh = mjs_addMesh(child, 0);
mjsFrame* frame = mjs_addFrame(mjs_findBody(child, "world"), 0);
mjsGeom* geom = mjs_addGeom(mjs_findBody(child, "world"), 0);
mjs_setString(child->compiler.meshdir, "meshdir");
mjs_setString(child->meshdir, "meshdir");
mjs_setString(mesh->file, "cube.obj");
mjs_setName(mesh->element, "cube");
mjs_setString(geom->meshname, "cube");
@@ -791,7 +791,7 @@ TEST_F(MujocoTest, Modeldir) {
// parent attaching the child
mjSpec* spec = mj_makeSpec();
mjs_setDeepCopy(spec, true);
mjs_setString(spec->compiler.meshdir, "asset");
mjs_setString(spec->meshdir, "asset");
mjs_attach(mjs_findBody(spec, "world")->element, frame->element, "_", "");
mjModel* model = mj_compile(spec, vfs.get());
EXPECT_THAT(model, NotNull());