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Make model editing API public, fixes #364

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Still missing:

- Detailed documentation.
- Python bindings.

PiperOrigin-RevId: 641445626
Change-Id: I20e67b707cf1bebae7e0cc94d17f7b76a89171f0
This commit is contained in:
Alessio Quaglino
2024-06-07 22:27:10 -07:00
committed by Copybara-Service
parent 4c3d9461ae
commit 7a06bcfdaf
46 changed files with 8508 additions and 980 deletions
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test/user/user_api_test.cc
+37 -37
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@@ -24,7 +24,7 @@
#include <gtest/gtest.h>
#include <absl/strings/match.h>
#include <mujoco/mujoco.h>
#include "src/user/user_api.h"
#include <mujoco/mjspec.h>
#include "src/xml/xml_api.h"
#include "src/xml/xml_numeric_format.h"
#include "test/fixture.h"
@@ -39,7 +39,7 @@ using ::testing::NotNull;
// -------------------------- test model manipulation -------------------------
TEST_F(MujocoTest, GetSetData) {
mjSpec* spec = mjs_createSpec();
mjSpec* spec = mj_makeSpec();
mjsBody* world = mjs_findBody(spec, "world");
mjsBody* body = mjs_addBody(world, 0);
mjsSite* site = mjs_addSite(body, 0);
@@ -60,11 +60,11 @@ TEST_F(MujocoTest, GetSetData) {
EXPECT_EQ(vec[i], i);
}
mjs_deleteSpec(spec);
mj_deleteSpec(spec);
}
TEST_F(MujocoTest, TreeTraversal) {
mjSpec* spec = mjs_createSpec();
mjSpec* spec = mj_makeSpec();
mjsBody* world = mjs_findBody(spec, "world");
mjsBody* body = mjs_addBody(world, 0);
@@ -75,15 +75,15 @@ TEST_F(MujocoTest, TreeTraversal) {
mjsSite* site3 = mjs_addSite(body, 0);
mjsGeom* geom3 = mjs_addGeom(body, 0);
mjElement* t_el1 = mjs_firstChild(body, mjOBJ_TENDON);
mjElement* s_el1 = mjs_firstChild(body, mjOBJ_SITE);
mjElement* s_el2 = mjs_nextChild(body, s_el1);
mjElement* s_el3 = mjs_nextChild(body, s_el2);
mjElement* s_el4 = mjs_nextChild(body, s_el3);
mjElement* g_el1 = mjs_firstChild(body, mjOBJ_GEOM);
mjElement* g_el2 = mjs_nextChild(body, g_el1);
mjElement* g_el3 = mjs_nextChild(body, g_el2);
mjElement* g_el4 = mjs_nextChild(body, g_el3);
mjsElement* t_el1 = mjs_firstChild(body, mjOBJ_TENDON);
mjsElement* s_el1 = mjs_firstChild(body, mjOBJ_SITE);
mjsElement* s_el2 = mjs_nextChild(body, s_el1);
mjsElement* s_el3 = mjs_nextChild(body, s_el2);
mjsElement* s_el4 = mjs_nextChild(body, s_el3);
mjsElement* g_el1 = mjs_firstChild(body, mjOBJ_GEOM);
mjsElement* g_el2 = mjs_nextChild(body, g_el1);
mjsElement* g_el3 = mjs_nextChild(body, g_el2);
mjsElement* g_el4 = mjs_nextChild(body, g_el3);
EXPECT_EQ(t_el1, nullptr);
EXPECT_EQ(s_el1, site1->element);
@@ -95,7 +95,7 @@ TEST_F(MujocoTest, TreeTraversal) {
EXPECT_EQ(g_el4, nullptr);
EXPECT_EQ(s_el4, nullptr);
mjs_deleteSpec(spec);
mj_deleteSpec(spec);
}
// ------------------- test recompilation multiple files -----------------------
@@ -131,16 +131,16 @@ TEST_F(PluginTest, RecompileCompare) {
<< "Failed to load " << xml << ": " << err.data();
// copy spec
mjSpec* s_copy = mjs_copySpec(s);
mjSpec* s_copy = mj_copySpec(s);
// compile twice and compare
mjModel* m_old = mjs_compile(s, nullptr);
mjModel* m_old = mj_compile(s, nullptr);
ASSERT_THAT(m_old, NotNull())
<< "Failed to compile " << xml << ": " << mjs_getError(s);
mjModel* m_new = mjs_compile(s, nullptr);
mjModel* m_copy = mjs_compile(s_copy, nullptr);
mjModel* m_new = mj_compile(s, nullptr);
mjModel* m_copy = mj_compile(s_copy, nullptr);
ASSERT_THAT(m_new, NotNull())
<< "Failed to recompile " << xml << ": " << mjs_getError(s);
@@ -158,8 +158,8 @@ TEST_F(PluginTest, RecompileCompare) {
<< "Different field: " << field << '\n';
// copy to a new spec, compile and compare
mjSpec* s_copy2 = mjs_copySpec(s);
mjModel* m_copy2 = mjs_compile(s_copy2, nullptr);
mjSpec* s_copy2 = mj_copySpec(s);
mjModel* m_copy2 = mj_compile(s_copy2, nullptr);
ASSERT_THAT(m_copy2, NotNull())
<< "Failed to compile " << xml << ": " << mjs_getError(s_copy2);
@@ -170,9 +170,9 @@ TEST_F(PluginTest, RecompileCompare) {
<< "Different field: " << field << '\n';
// delete models
mjs_deleteSpec(s);
mjs_deleteSpec(s_copy);
mjs_deleteSpec(s_copy2);
mj_deleteSpec(s);
mj_deleteSpec(s_copy);
mj_deleteSpec(s_copy2);
mj_deleteModel(m_old);
mj_deleteModel(m_new);
mj_deleteModel(m_copy);
@@ -433,7 +433,7 @@ TEST_F(MujocoTest, AttachSame) {
mjs_attachBody(frame, body, /*prefix=*/"attached-", /*suffix=*/"-1"), 0);
// compile new model
mjModel* m_attached = mjs_compile(parent, 0);
mjModel* m_attached = mj_compile(parent, 0);
EXPECT_THAT(m_attached, NotNull());
// check full name stored in mjModel
@@ -450,7 +450,7 @@ TEST_F(MujocoTest, AttachSame) {
<< "Different field: " << field << '\n';;
// destroy everything
mjs_deleteSpec(parent);
mj_deleteSpec(parent);
mj_deleteModel(m_attached);
mj_deleteModel(m_expected);
}
@@ -550,7 +550,7 @@ TEST_F(MujocoTest, AttachDifferent) {
mjs_attachBody(frame, body, /*prefix=*/"attached-", /*suffix=*/"-1"), 0);
// compile new model
mjModel* m_attached = mjs_compile(parent, 0);
mjModel* m_attached = mj_compile(parent, 0);
EXPECT_THAT(m_attached, NotNull());
// check full name stored in mjModel
@@ -567,8 +567,8 @@ TEST_F(MujocoTest, AttachDifferent) {
<< "Different field: " << field << '\n';;
// destroy everything
mjs_deleteSpec(parent);
mjs_deleteSpec(child);
mj_deleteSpec(parent);
mj_deleteSpec(child);
mj_deleteModel(m_attached);
mj_deleteModel(m_expected);
}
@@ -662,7 +662,7 @@ TEST_F(MujocoTest, AttachFrame) {
mjs_attachFrame(body, frame, /*prefix=*/"attached-", /*suffix=*/"-1"), 0);
// compile new model
mjModel* m_attached = mjs_compile(parent, 0);
mjModel* m_attached = mj_compile(parent, 0);
EXPECT_THAT(m_attached, NotNull());
// check full name stored in mjModel
@@ -679,8 +679,8 @@ TEST_F(MujocoTest, AttachFrame) {
<< "Different field: " << field << '\n';;
// destroy everything
mjs_deleteSpec(parent);
mjs_deleteSpec(child);
mj_deleteSpec(parent);
mj_deleteSpec(child);
mj_deleteModel(m_attached);
mj_deleteModel(m_expected);
}
@@ -715,7 +715,7 @@ void TestDetachBody(bool compile) {
EXPECT_THAT(child, NotNull()) << er.data();
// compile model (for testing double compilation)
mjModel* m_child = compile ? mjs_compile(child, 0) : nullptr;
mjModel* m_child = compile ? mj_compile(child, 0) : nullptr;
// get subtree
mjsBody* body = mjs_findBody(child, "body");
@@ -725,7 +725,7 @@ void TestDetachBody(bool compile) {
EXPECT_THAT(mjs_detachBody(child, body), 0);
// compile new model
mjModel* m_detached = mjs_compile(child, 0);
mjModel* m_detached = mj_compile(child, 0);
EXPECT_THAT(m_detached, NotNull());
// compare with expected XML
@@ -736,7 +736,7 @@ void TestDetachBody(bool compile) {
<< "Different field: " << field << '\n';
// destroy everything
mjs_deleteSpec(child);
mj_deleteSpec(child);
mj_deleteModel(m_detached);
mj_deleteModel(m_expected);
if (m_child) mj_deleteModel(m_child);
@@ -791,7 +791,7 @@ TEST_F(MujocoTest, PreserveState) {
EXPECT_THAT(spec, NotNull()) << er.data();
// compile models
mjModel* model = mjs_compile(spec, 0);
mjModel* model = mj_compile(spec, 0);
EXPECT_THAT(model, NotNull());
mjModel* m_expected = LoadModelFromString(xml_expected, er.data(), er.size());
EXPECT_THAT(m_expected, NotNull());
@@ -834,7 +834,7 @@ TEST_F(MujocoTest, PreserveState) {
joint->ref = d_expected->qpos[m_expected->nq-1];
// compile new model
mjs_recompile(spec, 0, model, data);
mj_recompile(spec, 0, model, data);
EXPECT_THAT(model, NotNull());
// compare qpos
@@ -861,7 +861,7 @@ TEST_F(MujocoTest, PreserveState) {
// destroy everything
mj_deleteData(data);
mj_deleteData(d_expected);
mjs_deleteSpec(spec);
mj_deleteSpec(spec);
mj_deleteModel(model);
mj_deleteModel(m_expected);
}