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Add mj_copyBack for copying real-valued arrays from mjModel back to mjSpec.

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Also add `SaveAndReadXML` function to test fixture using `mjSpec` as input.

PiperOrigin-RevId: 765393821
Change-Id: Ic257addd2fc89678fc11b226c168c077626cc51e
This commit is contained in:
Alessio Quaglino
2025-05-30 17:16:20 -07:00
committed by Copybara-Service
parent 072c872deb
commit 84ad22a590
18 changed files with 139 additions and 14 deletions
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test/xml/xml_native_writer_test.cc
+59
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@@ -1498,6 +1498,65 @@ TEST_F(DecompilerTest, SavesStatistics) {
mj_deleteModel(model);
}
TEST_F(DecompilerTest, SaveAndReadXml) {
static constexpr char xml1[] = R"(
<mujoco>
<worldbody>
<geom size="1"/>
<geom size="2"/>
</worldbody>
</mujoco>
)";
static constexpr char xml2[] = R"(
<mujoco>
<worldbody>
<geom size="1"/>
<geom size="2"/>
<geom size="3"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m1 = LoadModelFromString(xml1, error.data(), error.size());
ASSERT_THAT(m1, NotNull()) << error.data();
m1->geom_size[0] = 10;
m1->geom_size[3] = 20;
std::string saved_xml = SaveAndReadXml(m1);
EXPECT_THAT(saved_xml, HasSubstr("geom size=\"10\""));
EXPECT_THAT(saved_xml, HasSubstr("geom size=\"20\""));
// parse the mjSpec, save it and read it back
mjSpec* spec = mj_parseXMLString(xml2, nullptr, error.data(), error.size());
EXPECT_THAT(spec, NotNull()) << error.data();
mjModel* m2 = mj_compile(spec, nullptr);
std::string saved_xml1 = SaveAndReadXml(spec);
EXPECT_THAT(saved_xml1, HasSubstr("geom size=\"1\""));
EXPECT_THAT(saved_xml1, HasSubstr("geom size=\"2\""));
EXPECT_THAT(saved_xml1, HasSubstr("geom size=\"3\""));
// modify the mjModel, save it and read it back
m2->geom_size[0] = .1;
m2->geom_size[3] = .2;
m2->geom_size[6] = .3;
EXPECT_EQ(mj_copyBack(spec, m1), 0);
EXPECT_THAT(mjs_getError(spec), HasSubstr("CopyBack"));
EXPECT_EQ(mj_copyBack(spec, m2), 1);
std::string saved_xml2 = SaveAndReadXml(spec);
EXPECT_THAT(saved_xml2, HasSubstr("geom size=\"0.1\""));
EXPECT_THAT(saved_xml2, HasSubstr("geom size=\"0.2\""));
EXPECT_THAT(saved_xml2, HasSubstr("geom size=\"0.3\""));
// check that using mjModel as argument writes in the wrong mjSpec
std::string saved_xml3 = SaveAndReadXml(m2);
EXPECT_THAT(saved_xml3, Not(HasSubstr("geom size=\"0.1\"")));
EXPECT_THAT(saved_xml3, Not(HasSubstr("geom size=\"0.2\"")));
EXPECT_THAT(saved_xml3, Not(HasSubstr("geom size=\"0.3\"")));
mj_deleteSpec(spec);
mj_deleteModel(m1);
mj_deleteModel(m2);
}
TEST_F(DecompilerTest, DoesntSaveInferredStatistics) {
static constexpr char xml[] = R"(
<mujoco>