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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_ray_test.cc
+21 -13
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@@ -14,6 +14,9 @@
// Tests for ray casting.
#include <cstring>
#include <string>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <mujoco/mjdata.h>
@@ -78,8 +81,9 @@ using ::testing::NotNull;
using RayTest = MujocoTest;
TEST_F(RayTest, NoExclusions) {
mjModel* model = LoadModelFromString(kRayCastingModel);
ASSERT_THAT(model, NotNull());
char error[1024];
mjModel* model = LoadModelFromString(kRayCastingModel, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
mjData* data = mj_makeData(model);
ASSERT_THAT(data, NotNull());
@@ -100,8 +104,9 @@ TEST_F(RayTest, NoExclusions) {
}
TEST_F(RayTest, Exclusions) {
mjModel* model = LoadModelFromString(kRayCastingModel);
ASSERT_THAT(model, NotNull());
char error[1024];
mjModel* model = LoadModelFromString(kRayCastingModel, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
mjData* data = mj_makeData(model);
ASSERT_THAT(data, NotNull());
@@ -142,8 +147,9 @@ TEST_F(RayTest, Exclusions) {
}
TEST_F(RayTest, ExcludeStatic) {
mjModel* model = LoadModelFromString(kRayCastingModel);
ASSERT_THAT(model, NotNull());
char error[1024];
mjModel* model = LoadModelFromString(kRayCastingModel, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
mjData* data = mj_makeData(model);
ASSERT_THAT(data, NotNull());
@@ -166,8 +172,9 @@ TEST_F(RayTest, ExcludeStatic) {
// ------------------------------- mj_multiRay --------------------------------
TEST_F(RayTest, MultiRayEqualsSingleRay) {
mjModel* m = LoadModelFromString(kRayCastingModel);
ASSERT_THAT(m, NotNull());
char error[1024];
mjModel* m = LoadModelFromString(kRayCastingModel, error, sizeof(error));
ASSERT_THAT(m, NotNull()) << error;
mjData* d = mj_makeData(m);
ASSERT_THAT(d, NotNull());
mj_forward(m, d);
@@ -215,8 +222,9 @@ TEST_F(RayTest, MultiRayEqualsSingleRay) {
}
TEST_F(RayTest, EdgeCases) {
mjModel* m = LoadModelFromString(kSingleGeomModel);
ASSERT_THAT(m, NotNull());
char error[1024];
mjModel* m = LoadModelFromString(kSingleGeomModel, error, sizeof(error));
ASSERT_THAT(m, NotNull()) << error;
ASSERT_THAT(m->nbvh, 1);
mjData* d = mj_makeData(m);
ASSERT_THAT(d, NotNull());
@@ -398,8 +406,8 @@ TEST_F(RayTest, RayMeshPruning) {
_rayMeshTest(m);
mj_deleteModel(m);
m = LoadModelFromString(kCubeletModel);
ASSERT_THAT(m, NotNull());
m = LoadModelFromString(kCubeletModel, error, sizeof(error));
ASSERT_THAT(m, NotNull()) << error;
_rayMeshTest(m);
mj_deleteModel(m);
}
@@ -440,7 +448,7 @@ TEST_F(RayTest, RayHfield) {
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error), 0);
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
mjData* data = mj_makeData(model);