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

Copy attached spec before attaching anything else.

Browse Source 
Spec were copied after bodies are attached, so the reference to the source spec got lost during mj_copySpec().

PiperOrigin-RevId: 701287267
Change-Id: I55eff53c7ae9d42b03957be48ea506b80d274e03
This commit is contained in:
Alessio Quaglino
2024-11-29 07:40:44 -08:00
committed by Copybara-Service
parent 300450f8b8
commit 82b6dbeb40
2 changed files with 19 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/user/user_api_test.cc
+14 -4
View File
@@ -1998,16 +1998,22 @@ TEST_F(MujocoTest, ResizeParentKeyframe) {
TEST_F(MujocoTest, DifferentUnitsAllowed) {
mjSpec* child = mj_makeSpec();
child->compiler.degree = 1;
child->compiler.degree = 0;
mjsBody* body = mjs_addBody(mjs_findBody(child, "world"), 0);
body->alt.type = mjORIENTATION_EULER;
body->alt.euler[0] = 90;
body->alt.euler[0] = -mjPI / 2;
mjsGeom* geom = mjs_addGeom(body, 0);
geom->size[0] = 1;
mjsJoint* joint = mjs_addJoint(body, 0);
joint->type = mjJNT_HINGE;
joint->range[0] = -mjPI / 4;
joint->range[1] = mjPI / 4;
mjSpec* parent = mj_makeSpec();
parent->compiler.degree = 0;
parent->compiler.degree = 1;
mjsFrame* frame = mjs_addFrame(mjs_findBody(parent, "world"), 0);
frame->alt.type = mjORIENTATION_EULER;
frame->alt.euler[0] = -mjPI / 2;
frame->alt.euler[0] = 90;
EXPECT_THAT(mjs_attachBody(frame, body, "child-", ""), NotNull());
mjModel* model = mj_compile(parent, 0);
@@ -2016,6 +2022,8 @@ TEST_F(MujocoTest, DifferentUnitsAllowed) {
EXPECT_NEAR(model->body_quat[5], 0, 1e-12);
EXPECT_NEAR(model->body_quat[6], 0, 1e-12);
EXPECT_NEAR(model->body_quat[7], 0, 1e-12);
EXPECT_NEAR(model->jnt_range[0], -mjPI / 4, 1e-7);
EXPECT_NEAR(model->jnt_range[1], mjPI / 4, 1e-7);
mjSpec* copy = mj_copySpec(parent);
EXPECT_THAT(copy, NotNull());
@@ -2030,6 +2038,8 @@ TEST_F(MujocoTest, DifferentUnitsAllowed) {
EXPECT_NEAR(copy_model->body_quat[1], 0, 1e-12);
EXPECT_NEAR(copy_model->body_quat[2], 0, 1e-12);
EXPECT_NEAR(copy_model->body_quat[3], 0, 1e-12);
EXPECT_NEAR(copy_model->jnt_range[0], -mjPI / 4, 1e-7);
EXPECT_NEAR(copy_model->jnt_range[1], mjPI / 4, 1e-7);
mj_deleteModel(copy_model);
mj_deleteSpec(copy);