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Consolidate tree traversal tests in the C and Python APIs.

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PiperOrigin-RevId: 778883024
Change-Id: I0d30ed011e60a6da7148cebc1f715895fd0c6fd6
This commit is contained in:
Alessio Quaglino
2025-07-03 07:24:40 -07:00
committed by Copybara-Service
parent 465fb3234c
commit 69ce5dbd05
2 changed files with 62 additions and 74 deletions
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test/user/user_api_test.cc
+26 -26
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@@ -72,18 +72,18 @@ TEST_F(MujocoTest, TreeTraversal) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body name="body">
<body name="body1">
<body name="body1">
<site name="site1"/>
<body name="body2">
<site name="site4"/>
</body>
<site name="site1"/>
<geom name="geom1" size="1"/>
<geom name="geom2" size="1"/>
<site name="site2"/>
<site name="site3"/>
<geom name="geom3" size="1"/>
</body>
<body name="body2">
<body name="body3">
<site name="site5"/>
</body>
</worldbody>
@@ -95,9 +95,9 @@ TEST_F(MujocoTest, TreeTraversal) {
ASSERT_THAT(spec, NotNull()) << err.data();
mjsBody* world = mjs_findBody(spec, "world");
mjsBody* body = mjs_findBody(spec, "body");
mjsBody* body1 = mjs_findBody(spec, "body1");
mjsBody* body2 = mjs_findBody(spec, "body2");
mjsBody* body3 = mjs_findBody(spec, "body3");
mjsElement* site1 = mjs_findElement(spec, mjOBJ_SITE, "site1");
mjsElement* site2 = mjs_findElement(spec, mjOBJ_SITE, "site2");
mjsElement* site3 = mjs_findElement(spec, mjOBJ_SITE, "site3");
@@ -110,30 +110,30 @@ TEST_F(MujocoTest, TreeTraversal) {
// test nonexistent
EXPECT_EQ(mjs_firstElement(spec, mjOBJ_ACTUATOR), nullptr);
EXPECT_EQ(mjs_firstElement(spec, mjOBJ_LIGHT), nullptr);
EXPECT_EQ(mjs_firstChild(body, mjOBJ_CAMERA, /*recurse=*/true), nullptr);
EXPECT_EQ(mjs_firstChild(body, mjOBJ_TENDON, /*recurse=*/true), nullptr);
EXPECT_EQ(mjs_firstChild(body1, mjOBJ_CAMERA, /*recurse=*/true), nullptr);
EXPECT_EQ(mjs_firstChild(body1, mjOBJ_TENDON, /*recurse=*/true), nullptr);
// test first, nonrecursive
EXPECT_EQ(mjs_firstElement(spec, mjOBJ_BODY), world->element);
EXPECT_EQ(site1, mjs_firstElement(spec, mjOBJ_SITE));
EXPECT_EQ(site1, mjs_firstChild(body, mjOBJ_SITE, /*recurse=*/false));
EXPECT_EQ(geom1, mjs_firstChild(body, mjOBJ_GEOM, /*recurse=*/false));
EXPECT_EQ(site4, mjs_firstChild(body1, mjOBJ_SITE, /*recurse=*/false));
EXPECT_EQ(site5, mjs_firstChild(body2, mjOBJ_SITE, /*recurse=*/false));
EXPECT_EQ(site1, mjs_firstChild(body1, mjOBJ_SITE, /*recurse=*/false));
EXPECT_EQ(geom1, mjs_firstChild(body1, mjOBJ_GEOM, /*recurse=*/false));
EXPECT_EQ(site4, mjs_firstChild(body2, mjOBJ_SITE, /*recurse=*/false));
EXPECT_EQ(site5, mjs_firstChild(body3, mjOBJ_SITE, /*recurse=*/false));
// test first, recursive
EXPECT_EQ(site1, mjs_firstChild(world, mjOBJ_SITE, /*recurse=*/true));
EXPECT_EQ(geom1, mjs_firstChild(world, mjOBJ_GEOM, /*recurse=*/true));
EXPECT_EQ(site4, mjs_firstChild(body1, mjOBJ_SITE, /*recurse=*/true));
EXPECT_EQ(site5, mjs_firstChild(body2, mjOBJ_SITE, /*recurse=*/true));
EXPECT_EQ(site4, mjs_firstChild(body2, mjOBJ_SITE, /*recurse=*/true));
EXPECT_EQ(site5, mjs_firstChild(body3, mjOBJ_SITE, /*recurse=*/true));
// text next, nonrecursive
EXPECT_EQ(site2, mjs_nextChild(body, site1, /*recursive=*/false));
EXPECT_EQ(site3, mjs_nextChild(body, site2, /*recursive=*/false));
EXPECT_EQ(nullptr, mjs_nextChild(body, site3, /*recursive=*/false));
EXPECT_EQ(geom2, mjs_nextChild(body, geom1, /*recursive=*/false));
EXPECT_EQ(geom3, mjs_nextChild(body, geom2, /*recursive=*/false));
EXPECT_EQ(nullptr, mjs_nextChild(body, geom3, /*recursive=*/false));
EXPECT_EQ(site2, mjs_nextChild(body1, site1, /*recursive=*/false));
EXPECT_EQ(site3, mjs_nextChild(body1, site2, /*recursive=*/false));
EXPECT_EQ(nullptr, mjs_nextChild(body1, site3, /*recursive=*/false));
EXPECT_EQ(geom2, mjs_nextChild(body1, geom1, /*recursive=*/false));
EXPECT_EQ(geom3, mjs_nextChild(body1, geom2, /*recursive=*/false));
EXPECT_EQ(nullptr, mjs_nextChild(body1, geom3, /*recursive=*/false));
EXPECT_EQ(mjs_nextElement(spec, site1), site2);
EXPECT_EQ(mjs_nextElement(spec, site2), site3);
EXPECT_EQ(mjs_nextElement(spec, site3), site4);
@@ -144,15 +144,15 @@ TEST_F(MujocoTest, TreeTraversal) {
EXPECT_EQ(mjs_nextElement(spec, geom3), nullptr);
// text next, recursive
EXPECT_EQ(site2, mjs_nextChild(body, site1, /*recursive=*/true));
EXPECT_EQ(site3, mjs_nextChild(body, site2, /*recursive=*/true));
EXPECT_EQ(site4, mjs_nextChild(body, site3, /*recursive=*/true));
EXPECT_EQ(site2, mjs_nextChild(body1, site1, /*recursive=*/true));
EXPECT_EQ(site3, mjs_nextChild(body1, site2, /*recursive=*/true));
EXPECT_EQ(site4, mjs_nextChild(body1, site3, /*recursive=*/true));
EXPECT_EQ(site4, mjs_nextChild(world, site3, /*recursive=*/true));
EXPECT_EQ(site5, mjs_nextChild(world, site4, /*recursive=*/true));
EXPECT_EQ(nullptr, mjs_nextChild(body, site5, /*recursive=*/true));
EXPECT_EQ(geom2, mjs_nextChild(body, geom1, /*recursive=*/true));
EXPECT_EQ(geom3, mjs_nextChild(body, geom2, /*recursive=*/true));
EXPECT_EQ(nullptr, mjs_nextChild(body, geom3, /*recursive=*/true));
EXPECT_EQ(nullptr, mjs_nextChild(body1, site5, /*recursive=*/true));
EXPECT_EQ(geom2, mjs_nextChild(body1, geom1, /*recursive=*/true));
EXPECT_EQ(geom3, mjs_nextChild(body1, geom2, /*recursive=*/true));
EXPECT_EQ(nullptr, mjs_nextChild(body1, geom3, /*recursive=*/true));
// check compilation ordering of sites
mjModel* model = mj_compile(spec, nullptr);