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Add mjs_attachFrameToSite.

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This is required in preparation of changing the spec.attach behavior in the Python bindings.

PiperOrigin-RevId: 730810198
Change-Id: I095808f0afe62b5bbd27201ed5c75804e0e9c4bf
This commit is contained in:
Alessio Quaglino
2025-02-25 03:20:06 -08:00
committed by Copybara-Service
parent 6b11f2b88e
commit ce82b63155
7 changed files with 147 additions and 0 deletions
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test/user/user_api_test.cc
+65
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@@ -1367,6 +1367,71 @@ TEST_F(MujocoTest, AttachToSite) {
mj_deleteModel(expected);
}
TEST_F(MujocoTest, AttachFrameToSite) {
std::array<char, 1000> er;
mjtNum tol = 0;
std::string field = "";
static constexpr char xml_parent[] = R"(
<mujoco>
<worldbody>
<site name="site" pos="1 0 0" quat="0 1 0 0"/>
</worldbody>
</mujoco>)";
static constexpr char xml_child[] = R"(
<mujoco>
<worldbody>
<frame name="frame">
<body name="sphere">
<joint type="slide"/>
<geom size=".1"/>
</body>
</frame>
</worldbody>
</mujoco>)";
static constexpr char xml_result[] = R"(
<mujoco>
<worldbody>
<site name="site" pos="1 0 0" quat="0 1 0 0"/>
<frame pos="1 0 0" quat="0 1 0 0">
<body name="attached-sphere-1">
<joint type="slide"/>
<geom size=".1"/>
</body>
</frame>
</worldbody>
</mujoco>)";
mjSpec* parent = mj_parseXMLString(xml_parent, 0, er.data(), er.size());
EXPECT_THAT(parent, NotNull()) << er.data();
mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
EXPECT_THAT(child, NotNull()) << er.data();
mjsBody* world = mjs_findBody(parent, "world");
EXPECT_THAT(world, NotNull());
mjsSite* site = mjs_asSite(mjs_firstChild(world, mjOBJ_SITE, 0));
EXPECT_THAT(site, NotNull());
mjsFrame* frame = mjs_findFrame(child, "frame");
EXPECT_THAT(frame, NotNull());
mjsFrame* attached = mjs_attachFrameToSite(site, frame, "attached-", "-1");
EXPECT_THAT(attached, NotNull());
mjModel* model = mj_compile(parent, 0);
EXPECT_THAT(model, NotNull());
mjModel* expected = LoadModelFromString(xml_result, er.data(), er.size());
EXPECT_THAT(expected, NotNull()) << er.data();
EXPECT_LE(CompareModel(model, expected, field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
mj_deleteSpec(parent);
mj_deleteSpec(child);
mj_deleteModel(model);
mj_deleteModel(expected);
}
TEST_F(MujocoTest, AttachWorld) {
std::array<char, 1000> er;
mjtNum tol = 0;