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Merge pull request #3406 from devshahofficial:agent/pr3157-attach-mjcwrap

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PiperOrigin-RevId: 950890116
Change-Id: I95331186f166e84b94c3fcac555c9d446a421010
This commit is contained in:
Copybara-Service
2026-07-20 09:39:43 -07:00
parent a264d0bc8b 3e1dffc286
commit 5ea4c3a58c
2 changed files with 16 additions and 1 deletions
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test/user/user_api_test.cc
+14
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@@ -1283,6 +1283,20 @@ TEST_F(MujocoTest, AttachSpatialTendonWithoutSidesite) {
mjs_findElement(parent, mjOBJ_TENDON, "tendon_without_sidesite_child"),
NotNull());
mjsTendon* tendon = mjs_asTendon(
mjs_findElement(parent, mjOBJ_TENDON, "tendon_with_sidesite_child"));
ASSERT_THAT(tendon, NotNull());
ASSERT_EQ(mjs_getWrapNum(tendon), 3);
EXPECT_EQ(mjs_getWrapTarget(mjs_getWrap(tendon, 0)),
mjs_findElement(parent, mjOBJ_SITE, "site_A_child"));
EXPECT_EQ(mjs_getWrapTarget(mjs_getWrap(tendon, 1)),
mjs_findElement(parent, mjOBJ_GEOM, "wrap_geom_child"));
EXPECT_EQ(mjs_getWrapTarget(mjs_getWrap(tendon, 2)),
mjs_findElement(parent, mjOBJ_SITE, "site_B_child"));
EXPECT_EQ(mjs_getWrapSideSite(mjs_getWrap(tendon, 1)),
mjs_asSite(mjs_findElement(parent, mjOBJ_SITE, "side_site_child")));
mjModel* model = mj_compile(parent, nullptr);
ASSERT_THAT(model, NotNull()) << mjs_getError(parent);
EXPECT_EQ(model->ntendon, 2);