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Add spec lookup in the attached spec array using the compiler option pointer.

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This enables to find the spec associated with the compiler option stored in the objects, which do not necessarily belong to the model that owns them.

PiperOrigin-RevId: 713259419
Change-Id: I579c770147ff07ed2a5edd20e7a795ee7cc27147
This commit is contained in:
Alessio Quaglino
2025-01-08 05:42:59 -08:00
committed by Copybara-Service
parent 8a5f092081
commit 6654d63438
6 changed files with 161 additions and 39 deletions
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test/xml/xml_native_reader_test.cc
+66
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@@ -1579,6 +1579,72 @@ TEST_F(XMLReaderTest, InvalidAttach) {
mj_deleteVFS(vfs.get());
}
TEST_F(XMLReaderTest, LookupCompilerOptionWithoutSpecCopy) {
static constexpr char child_xml[] = R"(
<mujoco>
<compiler angle="radian"/>
<worldbody>
<body name="child">
<geom type="box" size="1 1 1"/>
<joint name="child_joint" range="-3.1415926 3.1415926"/>
</body>
</worldbody>
</mujoco>
)";
static constexpr char parent_xml[] = R"(
<mujoco>
<asset>
<model name="child" file="child.xml"/>
</asset>
<worldbody>
<body name="parent">
<geom type="box" size="1 1 1"/>
<joint name="parent_joint" range="-180 180"/>
<attach model="child" body="child" prefix="child_"/>
</body>
</worldbody>
</mujoco>
)";
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
mj_addBufferVFS(vfs.get(), "child.xml", child_xml, sizeof(child_xml));
mj_addBufferVFS(vfs.get(), "parent.xml", parent_xml, sizeof(parent_xml));
std::array<char, 1024> error;
auto* spec = mj_parseXMLString(parent_xml, vfs.get(), error.data(),
error.size());
ASSERT_THAT(spec, NotNull()) << error.data();
mjModel* model = mj_compile(spec, vfs.get());
EXPECT_THAT(model, NotNull());
EXPECT_THAT(model->njnt, 2);
EXPECT_NEAR(model->jnt_range[0], -3.14159, 1e-5);
EXPECT_NEAR(model->jnt_range[1], 3.14159, 1e-5);
EXPECT_NEAR(model->jnt_range[2], -3.14159, 1e-5);
EXPECT_NEAR(model->jnt_range[3], 3.14159, 1e-5);
mjSpec* copied_spec = mj_copySpec(spec);
ASSERT_THAT(copied_spec, NotNull());
mjModel* copied_model = mj_compile(copied_spec, vfs.get());
EXPECT_THAT(copied_model, NotNull());
EXPECT_THAT(copied_model->njnt, 2);
EXPECT_NEAR(copied_model->jnt_range[0], -3.14159, 1e-5);
EXPECT_NEAR(copied_model->jnt_range[1], 3.14159, 1e-5);
EXPECT_NEAR(copied_model->jnt_range[2], -3.14159, 1e-5);
EXPECT_NEAR(copied_model->jnt_range[3], 3.14159, 1e-5);
mj_deleteSpec(spec);
mj_deleteSpec(copied_spec);
mj_deleteModel(model);
mj_deleteModel(copied_model);
mj_deleteVFS(vfs.get());
}
// ----------------------- test camera parsing ---------------------------------
TEST_F(XMLReaderTest, CameraInvalidFovyAndSensorsize) {