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Copybara import of the project:

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1fcff13dfdc70519c4d33e17ade4be6afb2960a2 by Alexis <cuatroalejandro@gmail.com>:

add multipleBodies test for mj_loadXML

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34270fa57946e68a82fa55313b64a5a56e5aa080 by Alexis <cuatroalejandro@gmail.com>:

add some space

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3594020eb9be57cb6a2eef0baeca97cee8f25aab by Alexis <cuatroalejandro@gmail.com>:

remove TODO comment in xml_api_test

COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/1487 from alefram:alexis-test 3594020eb9be57cb6a2eef0baeca97cee8f25aab
PiperOrigin-RevId: 615033458
Change-Id: I05fe5659b07b3226b82d2562e31bcd73f150b089
This commit is contained in:
Alexis Fraudita
2024-03-12 07:29:05 -07:00
committed by Copybara-Service
parent 93cbdaee07
commit a2a770453e
1 changed files with 28 additions and 1 deletions
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test/xml/xml_api_test.cc
+28 -1
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@@ -64,7 +64,34 @@ TEST_F(LoadXmlTest, InvalidXmlFailsToLoad) {
mj_deleteModel(model);
}
}
// TODO(nimrod): Add more tests for mj_loadXML.
TEST_F(LoadXmlTest, MultipleBodies) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint/>
<geom size="1"/>
</body>
<body>
<joint/>
<geom size="0.5"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1000> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
EXPECT_EQ(model->nbody, 3);
mjData* data = mj_makeData(model);
EXPECT_THAT(data, NotNull());
mj_step(model, data);
mj_deleteData(data);
mj_deleteModel(model);
}
using SaveLastXmlTest = MujocoTest;