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Remove box, cylinder and ellipsoid composite types.

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Also, fix a bug with Flex textures that was causing an incorrect allocation of the textures in mjModel. Fixes #2013.

PiperOrigin-RevId: 692510858
Change-Id: If781716216974e085244da27bc3aa57d91c3458c
This commit is contained in:
Alessio Quaglino
2024-11-02 11:13:16 -07:00
committed by Copybara-Service
parent ebe60b9ad5
commit 831d9881d3
12 changed files with 54 additions and 547 deletions
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test/xml/xml_native_reader_test.cc
+5 -5
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@@ -1681,13 +1681,13 @@ TEST_F(XMLReaderTest, ReadsSkinGroups) {
<mujoco>
<worldbody>
<body>
<composite prefix="B0" type="box" count="4 4 4" spacing=".2">
<composite prefix="B0" type="grid" count="4 4 1" spacing=".2">
<geom size=".1" group="2"/>
<skin group="4"/>
</composite>
</body>
<body>
<composite prefix="B1" type="box" count="4 4 4" spacing=".2">
<composite prefix="B1" type="grid" count="4 4 1" spacing=".2">
<geom size=".1" group="4"/>
<skin group="2"/>
</composite>
@@ -1698,8 +1698,8 @@ TEST_F(XMLReaderTest, ReadsSkinGroups) {
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
int geomid1 = mj_name2id(model, mjOBJ_GEOM, "B0G0_0_0");
int geomid2 = mj_name2id(model, mjOBJ_GEOM, "B1G0_0_0");
int geomid1 = mj_name2id(model, mjOBJ_GEOM, "B0G0_0");
int geomid2 = mj_name2id(model, mjOBJ_GEOM, "B1G0_0");
EXPECT_THAT(model->geom_group[geomid1], 2);
EXPECT_THAT(model->skin_group[0], 4);
EXPECT_THAT(model->geom_group[geomid2], 4);
@@ -1712,7 +1712,7 @@ TEST_F(XMLReaderTest, InvalidSkinGroup) {
<mujoco>
<worldbody>
<body>
<composite prefix="B0" type="box" count="6 6 6" spacing=".2">
<composite prefix="B0" type="grid" count="6 6 1" spacing=".2">
<geom size=".1"/>
<skin group="6"/>
</composite>