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add mjs_detachDefault to delete a default class from mjSpec

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PiperOrigin-RevId: 738452369
Change-Id: I5a53a6dc8f89e1e8136aeefc09d7d9b7b7204e1f
This commit is contained in:
Tom Power
2025-03-19 10:30:08 -07:00
committed by Copybara-Service
parent a1b9ffd124
commit be64747166
18 changed files with 261 additions and 24 deletions
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test/user/user_api_test.cc
+85
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@@ -2544,6 +2544,91 @@ TEST_F(MujocoTest, ApplyNameSpaceToDefaults) {
mj_deleteVFS(vfs.get());
}
TEST_F(MujocoTest, DetachDefault) {
static constexpr char xml_c[] = R"(
<mujoco>
<default>
<default class="parent">
<default class="child1">
<mesh scale="0.001 0.001 0.001"/>
</default>
<default class="child2">
<mesh scale="0.001 0.001 0.001"/>
</default>
</default>
</default>
<asset>
<mesh file="cube.obj" class="child2"/>
</asset>
<worldbody>
<body name="body">
<geom type="mesh" mesh="cube"/>
</body>
</worldbody>
</mujoco>)";
static constexpr char cube[] = R"(
v -0.500000 -0.500000 0.500000
v 0.500000 -0.500000 0.500000
v -0.500000 0.500000 0.500000
v 0.500000 0.500000 0.500000
v -0.500000 0.500000 -0.500000
v 0.500000 0.500000 -0.500000
v -0.500000 -0.500000 -0.500000
v 0.500000 -0.500000 -0.500000)";
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
mj_addBufferVFS(vfs.get(), "cube.obj", cube, sizeof(cube));
std::array<char, 1024> err;
mjSpec* spec = mj_parseXMLString(xml_c, vfs.get(), err.data(), err.size());
EXPECT_THAT(spec, NotNull()) << err.data();
// get default
mjsDefault* child = mjs_findDefault(spec, "child1");
EXPECT_THAT(child, NotNull());
// try using mjs_delete to remove default, should fail
EXPECT_EQ(mjs_delete(child->element), -1);
// detach default
EXPECT_EQ(mjs_detachDefault(spec, child), 0);
child = mjs_findDefault(spec, "child1");
EXPECT_THAT(child, IsNull());
// try and detach previously detached default, should fail
EXPECT_EQ(mjs_detachDefault(spec, child), -1);
child = mjs_findDefault(spec, "child1");
EXPECT_THAT(child, IsNull());
EXPECT_THAT(mjs_getError(spec),
HasSubstr("Cannot detach, default is null"));
// detach parent
mjsDefault* parent = mjs_findDefault(spec, "parent");
EXPECT_THAT(parent, NotNull());
mjs_detachDefault(spec, parent);
// both parent and remaining child should be removed
parent = mjs_findDefault(spec, "parent");
EXPECT_THAT(parent, IsNull());
child = mjs_findDefault(spec, "child2");
EXPECT_THAT(child, IsNull());
// error when trying to detach the 'main' default
mjsDefault* main = mjs_findDefault(spec, "main");
EXPECT_THAT(main, NotNull());
EXPECT_EQ(mjs_detachDefault(spec, main), -1);
EXPECT_THAT(mjs_getError(spec),
HasSubstr("cannot remove the global default ('main')"));
main = mjs_findDefault(spec, "main");
EXPECT_THAT(main, NotNull());
mj_deleteVFS(vfs.get());
mj_deleteSpec(spec);
}
TEST_F(MujocoTest, ErrorWhenCompilingOrphanedSpec) {
static constexpr char xml[] = R"(
<mujoco>