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Resizes keyframes before storing them during attach/detach.

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Improve keyframe tests.

PiperOrigin-RevId: 685450257
Change-Id: I97aa129c4d7a66f613290605b85657e8081700b6
This commit is contained in:
Alessio Quaglino
2024-10-13 10:01:26 -07:00
committed by Copybara-Service
parent 534aedd47d
commit 52a0149cd1
6 changed files with 199 additions and 67 deletions
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test/xml/xml_native_reader_test.cc
+24 -12
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@@ -1234,21 +1234,28 @@ TEST_F(XMLReaderTest, ParseReplicate) {
</asset>
<worldbody>
<replicate count="101" euler="0 0 1.8">
<body name="body" pos="0 -1 0">
<joint type="slide"/>
<geom name="g" size="1"/>
</body>
</replicate>
<replicate count="2" offset="1 0 0">
<replicate count="2" offset="0 1 0" sep="_">
<geom name="geom" size="1" pos="0 0 1" material="material"/>
<site name="site" pos="1 0 0"/>
</replicate>
</replicate>
<replicate count="101" euler="0 0 1.8">
<geom name="g" size="1" pos="0 -1 0"/>
</replicate>
</worldbody>
<sensor>
<framepos name="sensor" objtype="site" objname="site"/>
</sensor>
<keyframe>
<key name="keyframe" qpos="1"/>
</keyframe>
</mujoco>
)";
@@ -1287,14 +1294,19 @@ TEST_F(XMLReaderTest, ParseReplicate) {
}
// check that the final pose is correct
int n = 104;
EXPECT_NEAR(m->geom_pos[3*n+0], 0, 1e-8);
EXPECT_NEAR(m->geom_pos[3*n+1], 1, 1e-8);
EXPECT_EQ(m->geom_pos[3*n+2], 0);
EXPECT_NEAR(m->geom_quat[4*n+0], 0, 1e-8);
EXPECT_EQ(m->geom_quat[4*n+1], 0);
EXPECT_EQ(m->geom_quat[4*n+2], 0);
EXPECT_EQ(m->geom_quat[4*n+3], 1);
int n = m->nbody-1;
EXPECT_THAT(m->nbody, 102);
EXPECT_NEAR(m->body_pos[3*n+0], 0, 1e-8);
EXPECT_NEAR(m->body_pos[3*n+1], 1, 1e-8);
EXPECT_EQ(m->body_pos[3*n+2], 0);
EXPECT_NEAR(m->body_quat[4*n+0], 0, 1e-8);
EXPECT_EQ(m->body_quat[4*n+1], 0);
EXPECT_EQ(m->body_quat[4*n+2], 0);
EXPECT_EQ(m->body_quat[4*n+3], 1);
// check that the pending keyframes are lost while detaching
EXPECT_THAT(m->nkey, 0);
EXPECT_THAT(m->nq, 101);
mj_deleteModel(m);
}