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Add error reporting to model loading in engine tests, where missing

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PiperOrigin-RevId: 795844607
Change-Id: I4163c53c05796c2e3036af28a98f58c15bb1c99c
This commit is contained in:
Yuval Tassa
2025-08-16 08:11:11 -07:00
committed by Copybara-Service
parent bbb70d98a4
commit 5a24eb2d34
16 changed files with 220 additions and 98 deletions
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test/engine/engine_collision_driver_test.cc
+18 -9
View File
@@ -14,8 +14,11 @@
// Tests for engine/engine_collision_driver.c.
#include <algorithm>
#include <cmath>
#include <cstddef>
#include <string>
#include <utility>
#include <vector>
#include <gmock/gmock.h>
@@ -68,7 +71,9 @@ TEST_F(MjCollisionTest, AllCollisions) {
}
TEST_F(MjCollisionTest, EmptyModel) {
mjModel* model = LoadModelFromString("<mujoco/>");
char error[1024];
mjModel* model = LoadModelFromString("<mujoco/>", error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
mjData* data = mj_makeData(model);
mj_fwdPosition(model, data);
@@ -117,8 +122,9 @@ TEST_F(MjCollisionTest, ContactCount) {
</worldbody>
</mujoco>
)";
mjModel* m = LoadModelFromString(xml);
ASSERT_THAT(m, NotNull());
char error[1024];
mjModel* m = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(m, NotNull()) << error;
mjData* d = mj_makeData(m);
ASSERT_THAT(d, NotNull());
@@ -152,8 +158,9 @@ TEST_F(MjCollisionTest, FilterParent) {
</worldbody>
</mujoco>
)";
mjModel* m = LoadModelFromString(xml);
ASSERT_THAT(m, NotNull());
char error[1024];
mjModel* m = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(m, NotNull()) << error;
mjData* d = mj_makeData(m);
ASSERT_THAT(d, NotNull());
@@ -186,8 +193,9 @@ TEST_F(MjCollisionTest, FilterParentDoesntAffectWorldBody) {
</worldbody>
</mujoco>
)";
mjModel* m = LoadModelFromString(xml);
ASSERT_THAT(m, NotNull());
char error[1024];
mjModel* m = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(m, NotNull()) << error;
mjData* d = mj_makeData(m);
ASSERT_THAT(d, NotNull());
@@ -235,8 +243,9 @@ TEST_F(MjCollisionTest, PlaneInBody) {
</worldbody>
</mujoco>
)";
mjModel* m = LoadModelFromString(xml);
ASSERT_THAT(m, NotNull());
char error[1024];
mjModel* m = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(m, NotNull()) << error;
mjData* d = mj_makeData(m);
ASSERT_THAT(d, NotNull());
mj_step(m, d);