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Resolve default asset names while attaching a spec.

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PiperOrigin-RevId: 676053538
Change-Id: I717b87be4bc18a5d9f8e5f2dc071bd93409eea81
This commit is contained in:
Alessio Quaglino
2024-09-18 10:57:16 -07:00
committed by Copybara-Service
parent 1a5536ce5b
commit aca4b3324d
5 changed files with 85 additions and 24 deletions
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test/user/user_api_test.cc
+38
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@@ -1156,5 +1156,43 @@ TEST_F(MujocoTest, AttachMocap) {
mj_deleteModel(m_expected);
}
TEST_F(MujocoTest, AttachUnnamedAssets) {
static constexpr char cube[] = R"(
v -1 -1 1
v 1 -1 1
v -1 1 1
v 1 1 1
v -1 1 -1
v 1 1 -1
v -1 -1 -1
v 1 -1 -1)";
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
mj_addBufferVFS(vfs.get(), "cube.obj", cube, sizeof(cube));
mjSpec* child = mj_makeSpec();
mjsMesh* mesh = mjs_addMesh(child, 0);
mjsFrame* frame = mjs_addFrame(mjs_findBody(child, "world"), 0);
mjsGeom* geom = mjs_addGeom(mjs_findBody(child, "world"), 0);
mjs_setFrame(geom->element, frame);
mjs_setString(mesh->file, "cube.obj");
mjs_setString(geom->meshname, "cube");
geom->type = mjGEOM_MESH;
mjSpec* spec = mj_makeSpec();
mjs_attachFrame(mjs_findBody(spec, "world"), frame, "_", "");
mjModel* model = mj_compile(spec, vfs.get());
EXPECT_THAT(model, NotNull());
EXPECT_THAT(model->nmesh, 1);
EXPECT_STREQ(mj_id2name(model, mjOBJ_MESH, 0), "_cube");
mj_deleteVFS(vfs.get());
mj_deleteSpec(child);
mj_deleteSpec(spec);
mj_deleteModel(model);
}
} // namespace
} // namespace mujoco