Clean-up test files.

Also, don't add a Global Settings component at import if the xml doesn't have any global settings (option/size/custom).

PiperOrigin-RevId: 495950899
Change-Id: I6599e8ea3f3a82729fc5c974fd7ced8eb93b277e

unity/Runtime/Components/Equality/MjConnect.cs

@@ -40,6 +40,9 @@ namespace Mujoco {
       if (Body1 == null || Body2 == null) {
         throw new NullReferenceException($"Both bodies in connect {name} are required.");
       }
+      if (Anchor == null) {
+        throw new NullReferenceException($"Anchor in connect {name} is required.");
+      }
       mjcf.SetAttribute("body1", Body1.MujocoName);
       mjcf.SetAttribute("body2", Body2.MujocoName);
       mjcf.SetAttribute("anchor",

unity/Runtime/Components/MjGlobalSettings.cs

@@ -149,8 +149,7 @@ public struct MjSizeStruct {
   };
 
   public void ParseMjcf(XmlElement mjcf) {
-    var localDefault = MjSizeStruct.Default;
-    Memory = mjcf.GetAttribute("memory", localDefault.Memory);
+    Memory = mjcf.GetAttribute("memory");
   }
 
   public XmlElement ToMjcf(XmlElement mjcf) {

unity/Runtime/Importer/MjcfImporter.cs

@@ -134,10 +134,13 @@ public class MjcfImporter {
   }
 
   protected virtual void ParseRoot(GameObject rootObject, XmlElement mujocoNode) {
-
-    var globalsObject = CreateGameObjectInParent("Global Settings", rootObject);
-    var settingsComponent = globalsObject.AddComponent<MjGlobalSettings>();
-    settingsComponent.ParseGlobalMjcfSections(mujocoNode);
+    if (mujocoNode.SelectSingleNode("option") != null
+        || mujocoNode.SelectSingleNode("size") != null
+        || mujocoNode.SelectSingleNode("custom") != null) {
+      var globalsObject = CreateGameObjectInParent("Global Settings", rootObject);
+      var settingsComponent = globalsObject.AddComponent<MjGlobalSettings>();
+      settingsComponent.ParseGlobalMjcfSections(mujocoNode);
+    }
 
     // This makes references to assets.
     var worldBodyNode = mujocoNode.SelectSingleNode("worldbody") as XmlElement;

unity/Tests/Editor/Components/Equality/MjConnectTests.cs

@@ -24,6 +24,7 @@ namespace Mujoco {
   public class MjConnectTests {
     private MjBody _body1;
     private MjBody _body2;
+    private Transform _anchor;
     private MjConnect _constraint;
     private XmlDocument _doc;
 
@@ -31,6 +32,7 @@ namespace Mujoco {
     public void SetUp() {
       _body1 = new GameObject("body1").AddComponent<MjBody>();
       _body2 = new GameObject("body2").AddComponent<MjBody>();
+      _anchor = _body1.transform;
       _constraint = new GameObject("connect").AddComponent<MjConnect>();
       _doc = new XmlDocument();
     }
@@ -44,10 +46,7 @@ namespace Mujoco {
 
     [Test]
     public void ErrorThrownWhenBody1Empty() {
-      // This is an illegal MJCF, but the purpose of this test is to verify that if
-      // the user didn't assign the body in the editor, an error will be thrown when play is hit.
-      _doc.LoadXml("<body/>");
-      _constraint.ParseMjcf(_doc.GetElementsByTagName("body")[0] as XmlElement);
+      _constraint.Body1 = null;
       Assert.That(() => { _constraint.GenerateMjcf("name", _doc); }, Throws.Exception);
     }
 
@@ -71,10 +70,12 @@ namespace Mujoco {
     public void GenerateXML() {
       _constraint.Body1 = _body1;
       _constraint.Body2 = _body2;
+      _constraint.Anchor = _anchor;
       var mjcf = _constraint.GenerateMjcf("name", _doc);
       Assert.That(mjcf.OuterXml, Does.Contain("<connect"));
       Assert.That(mjcf.OuterXml, Does.Contain("body1=\""));
       Assert.That(mjcf.OuterXml, Does.Contain("body2=\""));
+      Assert.That(mjcf.OuterXml, Does.Contain("anchor=\""));
     }
   }
 }

unity/Tests/Editor/Components/MjGlobalSettingsTests.cs

@@ -41,7 +41,7 @@ public class MjGlobalSettingsGenerationTests {
   }
 
   [Test]
-  public void GenerateOptionAndSize() {
+  public void GenerateOptionSizeFlagCustomNumeric() {
     _settings.GlobalOptions.ImpRatio = 1.2f;
     _settings.GlobalOptions.Magnetic = new Vector3(3.4f, 4.5f, 5.6f);
     _settings.GlobalOptions.Wind = new Vector3(6.7f, 7.8f, 8.9f);
@@ -80,7 +80,7 @@ public class MjGlobalSettingsGenerationTests {
     Assert.That(_doc.OuterXml, Does.Contain(@"noslip_tolerance=""6.7"""));
     Assert.That(_doc.OuterXml, Does.Contain(@"mpr_iterations=""8"""));
     Assert.That(_doc.OuterXml, Does.Contain(@"mpr_tolerance=""0.9"""));
-    Assert.That(_doc.OuterXml, Does.Contain(@"nconmax=""321"""));
+    Assert.That(_doc.OuterXml, Does.Contain(@"memory=""1M"""));
   }
 
   [Test]
@@ -134,7 +134,7 @@ public class MjGlobalSettingsParsingTests {
   }
 
   [Test]
-  public void ParseSizeOptionAndFlag() {
+  public void ParseSizeOptionFlagCustomNumeric() {
     _option.SetAttribute("impratio", "1.2");
     _option.SetAttribute("magnetic", "3.4 4.5 5.6");
     _option.SetAttribute("wind", "6.7 7.8 8.9");

unity/Tests/Editor/Tools/MjVFSEditorTests.cs

@@ -55,7 +55,8 @@ namespace Mujoco {
       var filename = "filename";
       var contents = "contents";
       _vfs.AddFile(filename, contents);
-      var filedata = Marshal.PtrToStringAnsi(_vfs.Data.filedata[0]);
+      var fileIndex = _vfs.FindFile(filename);
+      var filedata = Marshal.PtrToStringAnsi(_vfs.Data.filedata[fileIndex]);
       Assert.That(filedata, Is.EqualTo(contents));
     }
   }