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

Add mjs_bodyToFrame() to convert a body to a frame.

Browse Source 
Also add test for attaching the world body.

PiperOrigin-RevId: 685603933
Change-Id: I3cfe7d226d6f032b5a587e44d0f4f18207977188
This commit is contained in:
Alessio Quaglino
2024-10-14 00:38:26 -07:00
committed by Copybara-Service
parent 52a0149cd1
commit 766cd20273
12 changed files with 169 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/user/user_api_test.cc
+65
View File
@@ -1152,6 +1152,71 @@ TEST_F(MujocoTest, AttachToSite) {
mj_deleteModel(expected);
}
TEST_F(MujocoTest, AttachWorld) {
std::array<char, 1000> er;
mjtNum tol = 0;
std::string field = "";
static constexpr char xml_parent[] = R"(
<mujoco>
<worldbody>
<frame name="frame"/>
</worldbody>
</mujoco>)";
static constexpr char xml_child[] = R"(
<mujoco>
<worldbody>
<body name="sphere">
<joint type="slide"/>
<geom size=".1"/>
</body>
</worldbody>
</mujoco>)";
static constexpr char xml_result[] = R"(
<mujoco>
<worldbody>
<frame name="frame">
<frame name="attached-world-1">
<body name="attached-sphere-1">
<joint type="slide"/>
<geom size=".1"/>
</body>
</frame>
</frame>
</worldbody>
</mujoco>)";
mjSpec* parent = mj_parseXMLString(xml_parent, 0, er.data(), er.size());
EXPECT_THAT(parent, NotNull()) << er.data();
mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
EXPECT_THAT(child, NotNull()) << er.data();
mjsFrame* frame = mjs_findFrame(parent, "frame");
EXPECT_THAT(frame, NotNull());
mjsBody* world = mjs_findBody(child, "world");
EXPECT_THAT(world, NotNull());
mjsBody* child_world = mjs_attachBody(frame, world, "attached-", "-1");
EXPECT_THAT(child_world, NotNull());
mjsFrame* frame_world = mjs_bodyToFrame(&child_world);
EXPECT_THAT(frame_world, NotNull());
EXPECT_THAT(child_world, IsNull());
mjModel* model = mj_compile(parent, 0);
EXPECT_THAT(model, NotNull());
mjModel* expected = LoadModelFromString(xml_result, er.data(), er.size());
EXPECT_THAT(expected, NotNull()) << er.data();
EXPECT_LE(CompareModel(model, expected, field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
mj_deleteSpec(parent);
mj_deleteSpec(child);
mj_deleteModel(model);
mj_deleteModel(expected);
}
TEST_F(MujocoTest, PreserveState) {
std::array<char, 1000> er;
std::string field = "";