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Fix attach for spatial tendon. Fixes #3119.

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PiperOrigin-RevId: 874067521
Change-Id: If8d415278dde2bccf269cc90e8c176e3d7edefa6
This commit is contained in:
Taylor Howell
2026-02-23 07:38:02 -08:00
committed by Copybara-Service
parent a043df6bdf
commit 6ec808e2ce
3 changed files with 138 additions and 2 deletions
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test/user/user_api_test.cc
+127
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@@ -1079,6 +1079,133 @@ TEST_F(MujocoTest, AttachSame) {
mj_deleteModel(m_expected);
}
TEST_F(MujocoTest, AttachSpatialTendonWithoutSidesite) {
static constexpr char xml_parent[] = R"(
<mujoco>
<worldbody>
<body name="parent_body">
<geom size="0.1" type="sphere"/>
</body>
</worldbody>
</mujoco>)";
static constexpr char xml_child[] = R"(
<mujoco>
<worldbody>
<body name="child_body">
<geom name="wrap_geom" size="0.05" type="sphere"/>
<site name="site_A" pos="0 0 0.1"/>
<site name="site_B" pos="0 0 -0.1"/>
<site name="side_site" pos="0.05 0 0"/>
</body>
</worldbody>
<tendon>
<spatial name="tendon_with_sidesite">
<site site="site_A"/>
<geom geom="wrap_geom" sidesite="side_site"/>
<site site="site_B"/>
</spatial>
<spatial name="tendon_without_sidesite">
<site site="site_A"/>
<geom geom="wrap_geom"/>
<site site="site_B"/>
</spatial>
</tendon>
</mujoco>)";
std::array<char, 1000> er;
mjSpec* parent = mj_parseXMLString(xml_parent, 0, er.data(), er.size());
ASSERT_THAT(parent, NotNull()) << er.data();
mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
ASSERT_THAT(child, NotNull()) << er.data();
mjsBody* parent_body = mjs_findBody(parent, "parent_body");
ASSERT_THAT(parent_body, NotNull());
mjsSite* attach_site = mjs_addSite(parent_body, 0);
mjs_setName(attach_site->element, "attach_site");
mjs_attach(attach_site->element,
mjs_findBody(child, "child_body")->element, "", "_child");
EXPECT_THAT(mjs_findElement(parent, mjOBJ_TENDON,
"tendon_with_sidesite_child"), NotNull());
EXPECT_THAT(mjs_findElement(parent, mjOBJ_TENDON,
"tendon_without_sidesite_child"), NotNull());
mjModel* model = mj_compile(parent, nullptr);
ASSERT_THAT(model, NotNull()) << mjs_getError(parent);
EXPECT_EQ(model->ntendon, 2);
mj_deleteModel(model);
mj_deleteSpec(parent);
mj_deleteSpec(child);
}
TEST_F(MujocoTest, AttachSpatialTendonGitHubIssue3119) {
static constexpr char parent_xml[] = R"(
<mujoco>
<worldbody>
<body name="parent_body">
<geom size="0.1" type="sphere"/>
</body>
</worldbody>
</mujoco>)";
static constexpr char child_xml[] = R"(
<mujoco>
<worldbody>
<body name="child_body">
<geom name="wrap_geom" size="0.05" type="sphere"/>
<site name="site_A" pos="0 0 0.1"/>
<site name="site_B" pos="0 0 -0.1"/>
<site name="side_site" pos="0.05 0 0"/>
</body>
</worldbody>
<tendon>
<spatial name="tendon_with_sidesite">
<site site="site_A"/>
<geom geom="wrap_geom" sidesite="side_site"/>
<site site="site_B"/>
</spatial>
<spatial name="tendon_without_sidesite">
<site site="site_A"/>
<geom geom="wrap_geom"/>
<site site="site_B"/>
</spatial>
</tendon>
</mujoco>)";
std::array<char, 1000> er;
mjSpec* parent_spec =
mj_parseXMLString(parent_xml, 0, er.data(), er.size());
ASSERT_THAT(parent_spec, NotNull()) << er.data();
mjSpec* child_spec =
mj_parseXMLString(child_xml, 0, er.data(), er.size());
ASSERT_THAT(child_spec, NotNull()) << er.data();
mjsBody* parent_body = mjs_findBody(parent_spec, "parent_body");
ASSERT_THAT(parent_body, NotNull());
mjsSite* attach_site = mjs_addSite(parent_body, 0);
mjs_setName(attach_site->element, "attach_site");
mjs_attach(attach_site->element,
mjs_findBody(child_spec, "child_body")->element,
"", "_child");
EXPECT_THAT(mjs_findElement(parent_spec, mjOBJ_TENDON,
"tendon_with_sidesite_child"), NotNull());
EXPECT_THAT(mjs_findElement(parent_spec, mjOBJ_TENDON,
"tendon_without_sidesite_child"), NotNull());
mjModel* model = mj_compile(parent_spec, nullptr);
ASSERT_THAT(model, NotNull()) << mjs_getError(parent_spec);
EXPECT_EQ(model->ntendon, 2);
mj_deleteModel(model);
mj_deleteSpec(parent_spec);
mj_deleteSpec(child_spec);
}
TEST_F(MujocoTest, AttachDifferent) {
std::array<char, 1000> er;
mjtNum tol = 0;