chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
test/engine/engine_passive_test.cc
+8 -4
View File
@@ -14,7 +14,6 @@
// Tests for engine/engine_core_smooth.c.
#include <cstddef>
#include <string>
#include <gmock/gmock.h>
@@ -57,7 +56,9 @@ TEST_F(EllipsoidFluidTest, GeomsEquivalentToBodies) {
</mujoco>
)";
mjModel* m2 = LoadModelFromString(two_bodies_xml);
char error[1024];
mjModel* m2 = LoadModelFromString(two_bodies_xml, error, sizeof(error));
ASSERT_THAT(m2, NotNull()) << error;
mjData* d2 = mj_makeData(m2);
for (int i = 0; i < 6; i++) {
d2->qvel[i] = (mjtNum) i+1;
@@ -80,7 +81,8 @@ TEST_F(EllipsoidFluidTest, GeomsEquivalentToBodies) {
</mujoco>
)";
mjModel* m1 = LoadModelFromString(one_body_xml);
mjModel* m1 = LoadModelFromString(one_body_xml, error, sizeof(error));
ASSERT_THAT(m1, NotNull()) << error;
mjData* d1 = mj_makeData(m1);
for (int i = 0; i < 6; i++) {
d1->qvel[i] = (mjtNum) i+1;
@@ -126,7 +128,9 @@ TEST_F(EllipsoidFluidTest, DefaultsPropagate) {
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
EXPECT_THAT(GetVector(model->geom_fluid, 6),
ElementsAre(0, 0, 0, 0, 0, 0));
EXPECT_THAT(GetVector(model->geom_fluid + mjNFLUID, 6),