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Don't initialize plugins during model compilation.

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PiperOrigin-RevId: 585701389
Change-Id: I4e5e34276f404abadf6f5d4d9764ca717304ee34
This commit is contained in:
Yuval Tassa
2023-11-27 11:00:28 -08:00
committed by Copybara-Service
parent 6412c95a37
commit 51d80564fa
4 changed files with 95 additions and 139 deletions
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test/engine/engine_io_test.cc
-98
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@@ -44,16 +44,6 @@ using ::testing::NotNull;
using EngineIoTest = MujocoTest;
// Return an mjModel with just the ints set.
mjModel PartialModel(const mjModel* m) {
mjModel partial_model = {0};
#define X(var) partial_model.var = m->var;
MJMODEL_INTS;
#undef X
partial_model.nbuffer = 0;
return partial_model;
}
TEST_F(EngineIoTest, VerifySizeModel) {
constexpr char xml[] = R"(
<mujoco>
@@ -84,49 +74,6 @@ TEST_F(EngineIoTest, VerifySizeModel) {
EXPECT_EQ(file_size, model_size);
}
TEST_F(EngineIoTest, MakeDataFromPartialModel) {
constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint/>
<geom size="1"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
mjData* data_from_model = mj_makeData(model);
ASSERT_THAT(data_from_model, NotNull());
mjModel partial_model = PartialModel(model);
mj_deleteModel(model);
mjData* data_from_partial = mj_makeData(&partial_model);
ASSERT_THAT(data_from_partial, NotNull());
EXPECT_EQ(data_from_partial->nbuffer, data_from_model->nbuffer);
// If there are no mocap bodies and qpos0 is all zero, mjData should be the
// same whether it was made from the full model or the partial model.
{
MJDATA_POINTERS_PREAMBLE((&partial_model))
#define X(type, name, nr, nc) \
if (strcmp(#name, "D_rownnz") && strcmp(#name, "D_rowadr") && \
strcmp(#name, "B_rownnz") && strcmp(#name, "B_rowadr")) \
EXPECT_EQ(std::memcmp(data_from_partial->name, data_from_model->name, \
sizeof(type)*(partial_model.nr)*(nc)), \
0) << "mjData::" #name " differs";
MJDATA_POINTERS
#undef X
}
mj_deleteData(data_from_model);
mj_deleteData(data_from_partial);
}
TEST_F(EngineIoTest, MakeDataLoadsQpos0) {
constexpr char xml[] = R"(
<mujoco>
@@ -173,51 +120,6 @@ TEST_F(EngineIoTest, MakeDataLoadsMocapBodies) {
mj_deleteModel(model);
}
TEST_F(EngineIoTest, CopyDataWithPartialModel) {
constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint/>
<geom size="1"/>
</body>
<body mocap="true" pos="42 0 42">
<geom type="sphere" size="0.1"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
mjData* data = mj_makeData(model);
ASSERT_THAT(data, NotNull());
mjModel partial_model = PartialModel(model);
mj_deleteModel(model);
mjData* copy = mj_makeData(&partial_model);
ASSERT_THAT(copy, NotNull());
data->qpos[0] = 1;
mj_copyData(copy, &partial_model, data);
EXPECT_EQ(copy->nbuffer, data->nbuffer);
EXPECT_EQ(copy->qpos[0], 1);
{
MJDATA_POINTERS_PREAMBLE((&partial_model))
#define X(type, name, nr, nc) \
EXPECT_EQ(std::memcmp(copy->name, data->name, \
sizeof(type)*(partial_model.nr)*(nc)), \
0) << "mjData::" #name " differs";
MJDATA_POINTERS
#undef X
}
mj_deleteData(data);
mj_deleteData(copy);
}
TEST_F(EngineIoTest, MakeDataReturnsNullOnFailure) {
constexpr char xml[] = "<mujoco/>";