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Add childclass support to frames.

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PiperOrigin-RevId: 615487831
Change-Id: I0e4d2efd52211701b4286a0b0de84424470a3a47
This commit is contained in:
Alessio Quaglino
2024-03-13 11:29:50 -07:00
committed by Copybara-Service
parent 0d16587135
commit bda03af49a
17 changed files with 195 additions and 46 deletions
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test/xml/xml_native_reader_test.cc
+44 -7
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@@ -822,35 +822,72 @@ TEST_F(XMLReaderTest, IncludeAbsoluteTest) {
TEST_F(XMLReaderTest, ParseFrame) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<default class="frame">
<geom size=".1"/>
</default>
<default class="body">
<geom size=".2"/>
</default>
<default class="geom">
<geom size=".3"/>
</default>
</default>
<worldbody>
<frame euler="0 0 30">
<geom size=".1" euler="0 0 20"/>
<geom size=".5" euler="0 0 20"/>
</frame>
<body>
<frame pos="0 1 0">
<geom size=".1" pos="0 1 0"/>
<body pos="1 0 0">
<geom size=".1" pos="0 0 1"/>
<frame pos="0 1 0" childclass="frame">
<geom pos="0 1 0"/>
<body pos="1 0 0" childclass="body">
<geom pos="0 0 1"/>
<geom pos="0 0 1" class="geom"/>
</body>
</frame>
</body>
<frame euler="0 0 30">
<frame euler="0 0 20">
<geom size=".1"/>
<geom size=".6"/>
</frame>
</frame>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, NotNull()) << error.data();
EXPECT_THAT(m->geom_size[ 0], .5);
EXPECT_THAT(m->geom_size[ 3], .6);
EXPECT_THAT(m->geom_size[ 6], .1);
EXPECT_THAT(m->geom_size[ 9], .2);
EXPECT_THAT(m->geom_size[12], .3);
mj_deleteModel(m);
}
TEST_F(XMLReaderTest, DuplicateFrameName) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<frame name="frame1" euler="0 0 30">
<geom size=".1"/>
</frame>
<frame name="frame1" euler="0 0 30">
<geom size=".1"/>
</frame>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, IsNull()) << error.data();
EXPECT_THAT(error.data(), HasSubstr("repeated name 'frame1'"));
}
// ----------------------- test camera parsing ---------------------------------
TEST_F(XMLReaderTest, CameraInvalidFovyAndSensorsize) {