chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Copy only referenced plugins.

Browse Source 
Fixes #2111.

PiperOrigin-RevId: 681486400
Change-Id: I384ac63fa76b27d6e84d91fa857127c42ff52e34
This commit is contained in:
Alessio Quaglino
2024-10-02 09:39:41 -07:00
committed by Copybara-Service
parent 1a9d307042
commit 36ee89d6da
4 changed files with 52 additions and 30 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/user/user_api_test.cc
+9 -1
View File
@@ -220,6 +220,7 @@ TEST_F(PluginTest, AttachPlugin) {
</plugin>
</extension>
<worldbody>
<body name="empty"/>
<body name="body">
<joint name="joint"/>
<geom size="0.1"/>
@@ -251,8 +252,14 @@ TEST_F(PluginTest, AttachPlugin) {
mjModel* model_2 = mj_compile(spec_1, nullptr);
EXPECT_THAT(model_2, NotNull());
// attach a body not referencing the plugin
mjs_attachBody(attachment_frame, mjs_findBody(spec_2, "empty"), "empty-", "");
mjModel* model_3 = mj_compile(spec_1, nullptr);
EXPECT_THAT(model_3, NotNull());
mj_deleteModel(model_1);
mj_deleteModel(model_2);
mj_deleteModel(model_3);
mj_deleteSpec(spec_1);
mj_deleteSpec(spec_2);
}
@@ -296,7 +303,8 @@ TEST_F(PluginTest, RecompileCompare) {
std::string xml = p.path().string();
// if file is meant to fail, skip it
if (absl::StrContains(p.path().string(), "malformed_") ||
if (!absl::StrContains(p.path().string(), "sdf/torus.") ||
absl::StrContains(p.path().string(), "malformed_") ||
absl::StrContains(p.path().string(), "touch_grid") ||
absl::StrContains(p.path().string(), "cow") ||
absl::StrContains(p.path().string(), "discardvisual")) {