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Do not attach elements not referenced in the subtree.

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PiperOrigin-RevId: 617849280
Change-Id: I391fe7c00f67d020d7394ddd31219d727b2eaa94
This commit is contained in:
Alessio Quaglino
2024-03-21 08:20:50 -07:00
committed by Copybara-Service
parent b0daccc234
commit c3fb8e7f35
6 changed files with 475 additions and 240 deletions
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test/user/user_api_test.cc
+32 -6
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@@ -215,13 +215,27 @@ TEST_F(MujocoTest, Attach) {
static constexpr char xml_child[] = R"(
<mujoco>
<worldbody>
<body name="cylinder">
<joint type="hinge"/>
<body name="body">
<joint type="hinge" name="hinge"/>
<geom type="cylinder" size=".1 1 0"/>
<body name="named"/>
<body/>
</body>
<body name="discard"/>
</worldbody>
<sensor>
<framepos name="keep" objtype="body" objname="body"/>
<framepos name="discard" objtype="body" objname="discard"/>
</sensor>
<tendon>
<fixed name="fixed">
<joint joint="hinge" coef="2"/>
</fixed>
</tendon>
<actuator>
<position joint="hinge"/>
<position tendon="fixed"/>
</actuator>
</mujoco>)";
static constexpr char xml_result[] = R"(
@@ -231,8 +245,8 @@ TEST_F(MujocoTest, Attach) {
<freejoint/>
<geom size=".1"/>
<frame name="frame" pos=".1 0 0" euler="0 90 0">
<body name="attached-cylinder-1">
<joint type="hinge"/>
<body name="attached-body-1">
<joint type="hinge" name="attached-hinge-1"/>
<geom type="cylinder" size=".1 1 0"/>
<body name="attached-named-1"/>
<body/>
@@ -240,6 +254,18 @@ TEST_F(MujocoTest, Attach) {
</frame>
</body>
</worldbody>
<sensor>
<framepos name="attached-keep-1" objtype="body" objname="attached-body-1"/>
</sensor>
<tendon>
<fixed name="attached-fixed-1">
<joint joint="attached-hinge-1" coef="2"/>
</fixed>
</tendon>
<actuator>
<position joint="attached-hinge-1"/>
<position tendon="attached-fixed-1"/>
</actuator>
</mujoco>)";
// model with one free sphere and a frame
@@ -255,7 +281,7 @@ TEST_F(MujocoTest, Attach) {
EXPECT_THAT(child, NotNull()) << er.data();
// get subtree
mjmBody* body = mjm_findBody(child, "cylinder");
mjmBody* body = mjm_findBody(child, "body");
EXPECT_THAT(body, NotNull());
// attach child to parent frame
@@ -267,7 +293,7 @@ TEST_F(MujocoTest, Attach) {
EXPECT_THAT(m_attached, NotNull());
// check full name stored in mjModel
EXPECT_STREQ(mj_id2name(m_attached, mjOBJ_BODY, 2), "attached-cylinder-1");
EXPECT_STREQ(mj_id2name(m_attached, mjOBJ_BODY, 2), "attached-body-1");
// check body 2 is attached to body 1
EXPECT_THAT(m_attached->body_parentid[2], 1);