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Add attach tag to MJCF.

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PiperOrigin-RevId: 651117953
Change-Id: I57b0e53ed44607d479b3785d908e0837c0804cf3
This commit is contained in:
Alessio Quaglino
2024-07-10 12:40:50 -07:00
committed by Copybara-Service
parent 5b080bacc4
commit 27b9ddda5b
19 changed files with 419 additions and 248 deletions
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test/xml/xml_native_reader_test.cc
+141 -1
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@@ -1054,6 +1054,7 @@ TEST_F(XMLReaderTest, DuplicateFrameName) {
// ---------------------- test replicate parsing -------------------------------
TEST_F(XMLReaderTest, ParseReplicate) {
static constexpr char xml[] = R"(
<mujoco>
@@ -1253,7 +1254,146 @@ TEST_F(XMLReaderTest, ParseReplicateRepeatedName) {
std::array<char, 1024> error;
mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size());
EXPECT_THAT(spec, IsNull()) << error.data();
EXPECT_THAT(error.data(), HasSubstr("failed to attach frame"));
EXPECT_THAT(error.data(), HasSubstr("repeated name 'b' in actuator"));
EXPECT_THAT(error.data(), HasSubstr("Element 'replicate'"));
}
// ---------------------- test spec assets parsing -----------------------------
TEST_F(XMLReaderTest, ParseSpecAssets) {
std::array<char, 1024> er;
static const char* const kParentPath =
"xml/testdata/parent.xml";
static const char* const kChildPath =
"xml/testdata/child.xml";
const std::string xml_parent = GetTestDataFilePath(kParentPath);
const std::string xml_child = GetTestDataFilePath(kChildPath);
mjModel* parent = mj_loadXML(xml_parent.c_str(), 0, er.data(), er.size());
EXPECT_THAT(parent, NotNull()) << er.data();
mjModel* child = mj_loadXML(xml_child.c_str(), 0, er.data(), er.size());
EXPECT_THAT(child, NotNull()) << er.data();
mj_deleteModel(parent);
mj_deleteModel(child);
}
TEST_F(XMLReaderTest, AttachSpecAssets) {
static constexpr char xml_parent[] = R"(
<mujoco>
<asset>
<model name="child" file="xml_child.xml"/>
</asset>
<worldbody>
<body name="parent">
<geom name="geom" size="2"/>
<replicate count="2" offset="0 0 1">
<attach model="child" body="body" prefix="other"/>
</replicate>
</body>
</worldbody>
</mujoco>
)";
static constexpr char xml_child[] = R"(
<mujoco>
<worldbody>
<body name="body">
<geom name="geom" size="1" pos="2 0 0"/>
</body>
</worldbody>
</mujoco>
)";
static constexpr char xml_expected[] = R"(
<mujoco>
<worldbody>
<body name="parent">
<geom name="geom" size="2"/>
<body name="otherbody0">
<geom name="othergeom0" size="1" pos="2 0 0"/>
</body>
<body name="otherbody1" pos="0 0 1">
<geom name="othergeom1" size="1" pos="2 0 0"/>
</body>
</body>
</worldbody>
</mujoco>
)";
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
mj_addBufferVFS(vfs.get(), "xml_child.xml", xml_child, sizeof(xml_child));
std::array<char, 1024> er;
mjModel* model =
LoadModelFromString(xml_parent, er.data(), er.size(), vfs.get());
EXPECT_THAT(model, NotNull()) << er.data();
mjModel* expected = LoadModelFromString(xml_expected, er.data(), er.size());
EXPECT_THAT(expected, NotNull()) << er.data();
mjtNum tol = 0;
std::string field = "";
EXPECT_LE(CompareModel(model, expected, field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';;
mj_deleteModel(model);
mj_deleteModel(expected);
mj_deleteVFS(vfs.get());
}
TEST_F(XMLReaderTest, InvalidAttach) {
static constexpr char xml_parent[] = R"(
<mujoco>
<asset>
<model name="other" file="child.xml"/>
</asset>
<worldbody>
<body name="parent">
<joint name="joint1"/>
<geom size="2"/>
<attach model="other" body="body"/>
</body>
</worldbody>
<actuator>
<motor name="actuator" joint="joint1"/>
</actuator>
</mujoco>
)";
static constexpr char xml_child[] = R"(
<mujoco model="child">
<worldbody>
<body name="body">
<joint name="joint2"/>
<geom size="1" pos="2 0 0"/>
</body>
</worldbody>
<actuator>
<motor name="actuator" joint="joint2"/>
</actuator>
</mujoco>
)";
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
mj_addBufferVFS(vfs.get(), "child.xml", xml_child, sizeof(xml_child));
std::array<char, 1024> er;
mjModel* model =
LoadModelFromString(xml_parent, er.data(), er.size(), vfs.get());
EXPECT_THAT(model, IsNull()) << er.data();
EXPECT_THAT(er.data(), HasSubstr("repeated name 'actuator' in actuator"));
EXPECT_THAT(er.data(), HasSubstr("Element 'attach'"));
mj_deleteVFS(vfs.get());
}
// ----------------------- test camera parsing ---------------------------------