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Fix bug in frame saving. Fixes #1802

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PiperOrigin-RevId: 651696068
Change-Id: Ie1e2e1de4e83c42f2b5ebcc3afd0540b9afe7bbd
This commit is contained in:
Alessio Quaglino
2024-07-12 01:55:35 -07:00
committed by Copybara-Service
parent 3d1d1d0718
commit 2f46dec669
5 changed files with 175 additions and 42 deletions
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test/user/testdata/frame1.xml
Vendored
+24
View File
@@ -0,0 +1,24 @@
<mujoco model="load save load test model with 2 frames">
<worldbody>
<frame name="frame1" pos=".1 .2 .3">
<geom name="geom1" type="sphere" size=".1"/>
<body name="root1">
<joint name="joint1"/>
<geom type="sphere" size=".1"/>
</body>
<body name="root2">
<frame name="frame2" pos=".01 .02 .03">
<geom type="sphere" size=".1"/>
<body name="root22">
<geom type="sphere" size=".1"/>
</body>
</frame><!-- end frame2 -->
</body>
</frame> <!-- end frame1 -->
</worldbody>
</mujoco>
test/user/testdata/frame2.xml
Vendored
+31
View File
@@ -0,0 +1,31 @@
<mujoco model="load save load test model with 2 frames">
<worldbody>
<frame name="frame1" pos=".1 .2 .3">
<geom name="geom1" type="sphere" size=".1"/>
<body name="root1">
<geom type="sphere" size=".1"/>
</body>
<frame name="frame2" pos=".01 .02 .03">
<geom name="geom2" type="sphere" size=".1"/>
<body name="root2">
<geom type="sphere" size=".1"/>
<body name="root22">
<geom type="sphere" size=".1"/>
</body>
</body>
<geom name="geom3" type="sphere" size=".1"/>
<body name="root3">
<geom type="sphere" size=".1"/>
<body name="root5">
<geom type="sphere" size=".1"/>
</body>
</body>
</frame> <!-- end frame1 -->
</frame><!-- end frame2 -->
</worldbody>
</mujoco>
test/xml/xml_native_writer_test.cc
+39 -10
View File
@@ -726,7 +726,7 @@ TEST_F(XMLWriterTest, WritesActuatorDefaults) {
TEST_F(XMLWriterTest, WritesFrameDefaults) {
static constexpr char xml[] = R"(
<mujoco>
<mujoco model="test">
<default>
<default class="dframe">
<geom size=".1"/>
@@ -741,24 +741,53 @@ TEST_F(XMLWriterTest, WritesFrameDefaults) {
<body name="body">
<frame pos="0 1 0" name="f2" childclass="dframe">
<geom pos="0 1 0"/>
<body pos="1 0 0">
<geom pos="0 0 1"/>
</body>
<frame pos="0 1 0" name="f3">
<frame pos="0 1 0" name="f4">
<body pos="1 0 0">
<geom pos="0 0 1"/>
</body>
</frame>
</frame>
</frame>
</body>
</worldbody>
</mujoco>
)";
static constexpr char xml_expected[] = R"(<mujoco model="test">
<compiler angle="radian"/>
<default>
<default class="dframe">
<geom size="0.1 0 0"/>
</default>
</default>
<worldbody>
<body name="body">
<frame name="f2" childclass="dframe">
<geom pos="0 2 0"/>
<frame name="f3" childclass="dframe">
<frame name="f4" childclass="dframe">
<body pos="1 3 0">
<geom pos="0 0 1"/>
</body>
</frame>
</frame>
</frame>
</body>
<frame name="f1">
<geom size="0.5" quat="0.906308 0 0 0.422618"/>
</frame>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, NotNull()) << error.data();
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("frame name=\"f1\""));
EXPECT_THAT(saved_xml, HasSubstr("frame name=\"f2\" childclass=\"dframe\">"));
EXPECT_THAT(saved_xml, HasSubstr("geom pos=\"0 2 0\""));
EXPECT_THAT(saved_xml, HasSubstr("body pos=\"1 1 0\""));
EXPECT_THAT(saved_xml, HasSubstr("geom pos=\"0 0 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("<frame>")));
EXPECT_STREQ(saved_xml.c_str(), xml_expected);
mj_deleteModel(model);
}