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Enable attaching plugins not instantiated in the extension section.

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Fixes #2217.

PiperOrigin-RevId: 695766524
Change-Id: I534b63400810bd6ef888f39f6665213280fd93ac
This commit is contained in:
Alessio Quaglino
2024-11-12 09:33:32 -08:00
committed by Copybara-Service
parent eb77d5b933
commit 45f908c165
6 changed files with 164 additions and 16 deletions
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test/user/user_api_test.cc
+84
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@@ -293,6 +293,56 @@ TEST_F(PluginTest, AttachPlugin) {
mj_deleteSpec(spec_2);
}
TEST_F(PluginTest, AttachExplicitPlugin) {
static constexpr char xml_parent[] = R"(
<mujoco model="MuJoCo Model">
<worldbody>
<body name="body"/>
</worldbody>
</mujoco>)";
static constexpr char xml_child[] = R"(
<mujoco>
<extension>
<plugin plugin="mujoco.sensor.touch_grid"/>
</extension>
<worldbody>
<body name="body">
<geom type="sphere" size=".1" />
<site name="touch2" size="0.001"/>
</body>
</worldbody>
<sensor>
<plugin name="touch2" plugin="mujoco.sensor.touch_grid" objtype="site" objname="touch2">
<config key="size" value="8 12"/>
<config key="fov" value="10 13"/>
<config key="gamma" value="0"/>
<config key="nchannel" value="1"/>
</plugin>
</sensor>
</mujoco>)";
std::array<char, 1000> err;
mjSpec* parent = mj_parseXMLString(xml_parent, 0, err.data(), err.size());
ASSERT_THAT(parent, NotNull()) << err.data();
mjSpec* child = mj_parseXMLString(xml_child, 0, err.data(), err.size());
ASSERT_THAT(child, NotNull()) << err.data();
mjsBody* body_parent = mjs_findBody(parent, "body");
EXPECT_THAT(body_parent, NotNull());
mjsFrame* attachment_frame = mjs_addFrame(body_parent, 0);
EXPECT_THAT(attachment_frame, NotNull());
mjs_attachBody(attachment_frame, mjs_findBody(child, "body"), "child-", "");
mjModel* model = mj_compile(parent, nullptr);
EXPECT_THAT(model, NotNull());
EXPECT_THAT(model->nplugin, 1);
mj_deleteSpec(parent);
mj_deleteSpec(child);
mj_deleteModel(model);
}
TEST_F(PluginTest, ReplicatePlugin) {
static constexpr char xml[] = R"(
<mujoco>
@@ -326,6 +376,40 @@ TEST_F(PluginTest, ReplicatePlugin) {
mj_deleteModel(model);
}
TEST_F(PluginTest, ReplicateExplicitPlugin) {
static constexpr char xml[] = R"(
<mujoco>
<extension>
<plugin plugin="mujoco.sensor.touch_grid"/>
</extension>
<worldbody>
<body name="tactile_sensor_2">
<replicate count="2" offset="0 0.1 0">
<geom type="sphere" size=".0008" />
</replicate>
<site name="touch2" size="0.001"/>
</body>
</worldbody>
<sensor>
<plugin name="touch2" plugin="mujoco.sensor.touch_grid" objtype="site" objname="touch2">
<config key="size" value="8 12"/>
<config key="fov" value="10 13"/>
<config key="gamma" value="0"/>
<config key="nchannel" value="1"/>
</plugin>
</sensor>
</mujoco>)";
std::array<char, 1000> err;
mjSpec* spec = mj_parseXMLString(xml, 0, err.data(), err.size());
ASSERT_THAT(spec, NotNull()) << err.data();
mjModel* model = mj_compile(spec, nullptr);
EXPECT_THAT(model, NotNull());
EXPECT_THAT(model->nplugin, 1);
mj_deleteSpec(spec);
mj_deleteModel(model);
}
TEST_F(MujocoTest, RecompileFails) {
mjSpec* spec = mj_makeSpec();
mjsBody* body = mjs_addBody(mjs_findBody(spec, "world"), 0);