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Add built-in supertoroid mesh.

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PiperOrigin-RevId: 791180080
Change-Id: I3a70f50ff4a52a1bd4b88fc30334a574895145b4
This commit is contained in:
Yuval Tassa
2025-08-05 06:05:44 -07:00
committed by Copybara-Service
parent e543ba95c5
commit a5d4d1000e
13 changed files with 189 additions and 41 deletions
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test/xml/xml_native_reader_test.cc
-18
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@@ -2040,24 +2040,6 @@ TEST_F(XMLReaderTest, ReadWedgeMesh) {
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, UnsupportedMesh) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="torus" builtin="torus" params="25 25 180 90 0"/>
</asset>
<worldbody>
<geom type="mesh" mesh="torus"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("Unsupported mesh type"));
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, BuiltinAndFile) {
static constexpr char xml[] = R"(
<mujoco>