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Add replicate element to MJCF. Fixes #553

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PiperOrigin-RevId: 629393578
Change-Id: Ia1db1b9e47eba8868117b0f7b85edcd0cc1b6d79
This commit is contained in:
Alessio Quaglino
2024-04-30 06:28:09 -07:00
committed by Copybara-Service
parent 6a5bbb5157
commit 26f23066d1
30 changed files with 8756 additions and 2807 deletions
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test/user/user_api_test.cc
+30 -6
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@@ -204,12 +204,17 @@ static constexpr char xml_child[] = R"(
</default>
</default>
<asset>
<texture name="texture" type="2d" builtin="checker" width="32" height="32"/>
<material name="material" texture="texture" texrepeat="1 1" texuniform="true"/>
</asset>
<worldbody>
<frame name="pframe">
<frame name="cframe">
<body name="body">
<joint type="hinge" name="hinge"/>
<geom class="cylinder"/>
<geom class="cylinder" material="material"/>
<light mode="targetbody" target="targetbody"/>
<body name="targetbody"/>
<body/>
@@ -254,10 +259,15 @@ TEST_F(MujocoTest, AttachSame) {
</default>
</default>
<asset>
<texture name="texture" type="2d" builtin="checker" width="32" height="32"/>
<material name="material" texture="texture" texrepeat="1 1" texuniform="true"/>
</asset>
<worldbody>
<body name="body">
<joint type="hinge" name="hinge"/>
<geom class="cylinder"/>
<geom class="cylinder" material="material"/>
<light mode="targetbody" target="targetbody"/>
<body name="targetbody"/>
<body/>
@@ -266,7 +276,7 @@ TEST_F(MujocoTest, AttachSame) {
<frame name="frame" pos=".1 0 0" euler="0 90 0">
<body name="attached-body-1">
<joint type="hinge" name="attached-hinge-1"/>
<geom class="cylinder"/>
<geom class="cylinder" material="material"/>
<light mode="targetbody" target="attached-targetbody-1"/>
<body name="attached-targetbody-1"/>
<body/>
@@ -374,6 +384,11 @@ TEST_F(MujocoTest, AttachDifferent) {
</default>
</default>
<asset>
<texture name="attached-texture-1" type="2d" builtin="checker" width="32" height="32"/>
<material name="attached-material-1" texture="attached-texture-1" texrepeat="1 1" texuniform="true"/>
</asset>
<worldbody>
<body name="sphere">
<freejoint/>
@@ -381,7 +396,7 @@ TEST_F(MujocoTest, AttachDifferent) {
<frame name="frame" pos=".1 0 0" euler="0 90 0">
<body name="attached-body-1">
<joint type="hinge" name="attached-hinge-1"/>
<geom class="attached-cylinder-1"/>
<geom class="attached-cylinder-1" material="attached-material-1"/>
<light mode="targetbody" target="attached-targetbody-1"/>
<body name="attached-targetbody-1"/>
<body/>
@@ -478,6 +493,11 @@ TEST_F(MujocoTest, AttachFrame) {
</default>
</default>
<asset>
<texture name="attached-texture-1" type="2d" builtin="checker" width="32" height="32"/>
<material name="attached-material-1" texture="attached-texture-1" texrepeat="1 1" texuniform="true"/>
</asset>
<worldbody>
<body name="sphere">
<freejoint/>
@@ -487,7 +507,7 @@ TEST_F(MujocoTest, AttachFrame) {
<frame name="cframe">
<body name="attached-body-1">
<joint type="hinge" name="attached-hinge-1"/>
<geom class="attached-cylinder-1"/>
<geom class="attached-cylinder-1" material="attached-material-1"/>
<light mode="targetbody" target="attached-targetbody-1"/>
<body name="attached-targetbody-1"/>
<body/>
@@ -568,6 +588,11 @@ TEST_F(MujocoTest, DetachBody) {
static constexpr char xml_result[] = R"(
<mujoco>
<asset>
<texture name="texture" type="2d" builtin="checker" width="32" height="32"/>
<material name="material" texture="texture" texrepeat="1 1" texuniform="true"/>
</asset>
<worldbody>
<frame name="pframe">
<frame name="cframe">
@@ -605,7 +630,6 @@ TEST_F(MujocoTest, DetachBody) {
// destroy everything
mjs_deleteSpec(child);
mjs_deleteBody(body);
mj_deleteModel(m_detached);
mj_deleteModel(m_expected);
}