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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_inverse_test.cc
+8 -2
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@@ -18,6 +18,7 @@
#include <string>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mujoco.h>
@@ -26,6 +27,7 @@
namespace mujoco {
namespace {
using ::testing::NotNull;
using InverseTest = MujocoTest;
const int kSteps = 70;
@@ -34,7 +36,9 @@ static const char* const kModelPath = "testdata/model.xml";
// test standard continuous-time inverse dynamics
TEST_F(InverseTest, ForwardInverseMatch) {
const std::string xml_path = GetTestDataFilePath(kModelPath);
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
char error[1024];
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
mjData* data = mj_makeData(model);
// simulate, call mj_forward
@@ -59,7 +63,9 @@ TEST_F(InverseTest, ForwardInverseMatch) {
TEST_F(InverseTest, DiscreteInverseMatch) {
// load and allocate
const std::string xml_path = GetTestDataFilePath(kModelPath);
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
char error[1024];
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
int nv = model->nv;
mjData* data = mj_makeData(model);
int nstate = mj_stateSize(model, mjSTATE_INTEGRATION);