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

Track authored flags for global attributes

Browse Source 
PiperOrigin-RevId: 931585539
Change-Id: Ifdc8c59de6c5a553daf6e0af09d8192aff6b0610
This commit is contained in:
Yuval Tassa
2026-06-13 02:57:52 -07:00
committed by Copybara-Service
parent 0ea9c7cb3a
commit 67a1ea6dca
21 changed files with 823 additions and 195 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/xml/xml_native_reader_test.cc
+68
View File
@@ -29,6 +29,7 @@
#include <mujoco/mujoco.h>
#include "src/cc/array_safety.h"
#include "src/engine/engine_util_errmem.h"
#include "src/user/user_api.h"
#include "src/xml/xml_api.h"
#include "test/compare_model.h"
#include "test/fixture.h"
@@ -64,6 +65,73 @@ TEST_F(XMLReaderTest, UniqueElementTest) {
EXPECT_THAT(error.data(), HasSubstr("unique element 'flag' found 2 times"));
}
TEST_F(XMLReaderTest, AuthoredFromXml) {
static constexpr char xml[] = R"(
<mujoco>
<compiler boundmass="1"/>
<option timestep="0.01" gravity="0 0 -5">
<flag constraint="disable"/>
</option>
<visual>
<global fovy="60"/>
<quality shadowsize="1024"/>
</visual>
<worldbody/>
</mujoco>
)";
std::array<char, 1024> error;
mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size());
ASSERT_THAT(spec, NotNull()) << error.data();
// option: timestep authored, gravity authored, density not authored
EXPECT_EQ(mjs_isAuthored(spec, &spec->option.timestep), 1);
EXPECT_EQ(mjs_isAuthored(spec, spec->option.gravity), 1);
EXPECT_EQ(mjs_isAuthored(spec, &spec->option.density), 0);
// compiler: boundmass authored, boundinertia not authored
EXPECT_EQ(mjs_isAuthored(spec, &spec->compiler.boundmass), 1);
EXPECT_EQ(mjs_isAuthored(spec, &spec->compiler.boundinertia), 0);
// flags: constraint disable authored, contact not authored
EXPECT_NE(spec->authored.disableflags & mjDSBL_CONSTRAINT, 0);
EXPECT_EQ(spec->authored.disableflags & mjDSBL_CONTACT, 0);
// visual global: fovy authored, ipd not authored
EXPECT_EQ(mjs_isAuthored(spec, &spec->visual.global.fovy), 1);
EXPECT_EQ(mjs_isAuthored(spec, &spec->visual.global.ipd), 0);
// visual quality: shadowsize authored, offsamples not authored
EXPECT_EQ(mjs_isAuthored(spec, &spec->visual.quality.shadowsize), 1);
EXPECT_EQ(mjs_isAuthored(spec, &spec->visual.quality.offsamples), 0);
mj_deleteSpec(spec);
}
TEST_F(XMLReaderTest, AuthoredDefaultsZero) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody/>
</mujoco>
)";
std::array<char, 1024> error;
mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size());
ASSERT_THAT(spec, NotNull()) << error.data();
// nothing authored in an empty model
EXPECT_EQ(mjs_isAuthored(spec, &spec->option.timestep), 0);
EXPECT_EQ(mjs_isAuthored(spec, &spec->option.gravity), 0);
EXPECT_EQ(mjs_isAuthored(spec, &spec->compiler.boundmass), 0);
EXPECT_EQ(spec->authored.disableflags, 0);
EXPECT_EQ(spec->authored.enableflags, 0);
EXPECT_EQ(spec->authored.disableactuator, 0);
EXPECT_EQ(mjs_isAuthored(spec, &spec->visual.global.fovy), 0);
EXPECT_EQ(mjs_isAuthored(spec, &spec->visual.map.znear), 0);
mj_deleteSpec(spec);
}
TEST_F(XMLReaderTest, MemorySize) {
std::array<char, 1024> error;
{