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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/xml/xml_api_test.cc
+9 -9
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@@ -24,7 +24,7 @@
#include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mujoco.h>
#include "src/user/user_api.h"
#include <mujoco/mjspec.h>
#include "src/xml/xml_api.h"
#include "test/fixture.h"
@@ -119,15 +119,15 @@ TEST_F(MujocoTest, SaveXmlShortString) {
mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size());
EXPECT_THAT(spec, NotNull()) << "Failed to parse spec: " << error.data();
mjModel* model = mjs_compile(spec, 0);
mjModel* model = mj_compile(spec, 0);
EXPECT_THAT(model, NotNull()) << "Failed to compile model: " << error.data();
std::array<char, 10> out;
EXPECT_THAT(mj_saveXMLString(spec, out.data(), out.size(),
error.data(), error.size()), 0);
error.data(), error.size()), 272);
EXPECT_STREQ(error.data(), "Output string too short, should be at least 273");
mjs_deleteSpec(spec);
mj_deleteSpec(spec);
mj_deleteModel(model);
}
@@ -136,16 +136,16 @@ TEST_F(MujocoTest, SaveXml) {
mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size());
EXPECT_THAT(spec, NotNull()) << "Failed to parse spec: " << error.data();
mjModel* model = mjs_compile(spec, 0);
mjModel* model = mj_compile(spec, 0);
EXPECT_THAT(model, NotNull()) << "Failed to compile model: " << error.data();
std::array<char, 273> out;
EXPECT_THAT(mj_saveXMLString(spec, out.data(), out.size(), error.data(),
error.size()), 1) << error.data();
error.size()), 0) << error.data();
mjSpec* saved_spec = mj_parseXMLString(xml, 0, error.data(), error.size());
EXPECT_THAT(saved_spec, NotNull()) << "Invalid saved spec: " << error.data();
mjModel* saved_model = mjs_compile(saved_spec, 0);
mjModel* saved_model = mj_compile(saved_spec, 0);
EXPECT_THAT(saved_model, NotNull()) << "Invalid model: " << error.data();
mjtNum tol = 0;
@@ -154,8 +154,8 @@ TEST_F(MujocoTest, SaveXml) {
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
mjs_deleteSpec(spec);
mjs_deleteSpec(saved_spec);
mj_deleteSpec(spec);
mj_deleteSpec(saved_spec);
mj_deleteModel(model);
mj_deleteModel(saved_model);
}