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Add visualisation groups to skins.

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PiperOrigin-RevId: 458441645
Change-Id: I14324e8efda5142b2718a5cc9215228c7556dbf7
This commit is contained in:
Alessio Quaglino
2022-07-01 04:56:46 -07:00
committed by Copybara-Service
parent 040deb161f
commit 2d0995b47c
19 changed files with 256 additions and 115 deletions
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test/xml/xml_native_reader_test.cc
+51
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@@ -379,6 +379,57 @@ TEST_F(UserDataTest, PositiveControlRange) {
EXPECT_THAT(error.data(), HasSubstr("control range cannot be negative"));
}
TEST_F(UserDataTest, ReadsSkinGroups) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<composite prefix="B0" type="box" count="4 4 4" spacing=".2">
<geom size=".1" group="2"/>
<skin group="4"/>
</composite>
</body>
<body>
<composite prefix="B1" type="box" count="4 4 4" spacing=".2">
<geom size=".1" group="4"/>
<skin group="2"/>
</composite>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
int geomid1 = mj_name2id(model, mjOBJ_GEOM, "B0G0_0_0");
int geomid2 = mj_name2id(model, mjOBJ_GEOM, "B1G0_0_0");
EXPECT_THAT(model->geom_group[geomid1], 2);
EXPECT_THAT(model->skin_group[0], 4);
EXPECT_THAT(model->geom_group[geomid2], 4);
EXPECT_THAT(model->skin_group[1], 2);
mj_deleteModel(model);
}
TEST_F(UserDataTest, InvalidSkinGroup) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<composite prefix="B0" type="box" count="6 6 6" spacing=".2">
<geom size=".1"/>
<skin group="6"/>
</composite>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("skin group must be between 0 and 5\nElement 'skin', line 7"));
mj_deleteModel(model);
}
// ------------- test relative frame sensor parsing ----------------------------
using RelativeFrameSensorParsingTest = MujocoTest;