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Do not delete attached specs after compilation.

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Also, copy them when copying the spec.

PiperOrigin-RevId: 688998464
Change-Id: I7229fd8032eafede582194ccf73ab4160fe06768
This commit is contained in:
Alessio Quaglino
2024-10-23 09:41:07 -07:00
committed by Copybara-Service
parent e14aebfd16
commit d17d9e835c
9 changed files with 95 additions and 10 deletions
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test/user/user_api_test.cc
+52
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@@ -1849,5 +1849,57 @@ TEST_F(MujocoTest, DifferentUnitsNotAllowed) {
mj_deleteSpec(spec_2);
}
TEST_F(MujocoTest, CopyAttachedSpec) {
static constexpr char xml_parent[] = R"(
<mujoco>
<asset>
<model name="child" file="xml_child.xml"/>
</asset>
<worldbody>
<body name="parent">
<geom name="geom" size="2"/>
<attach model="child" body="body" prefix="other"/>
</body>
</worldbody>
</mujoco>
)";
static constexpr char xml_child[] = R"(
<mujoco>
<worldbody>
<body name="body">
<geom name="geom" size="1" pos="2 0 0"/>
</body>
</worldbody>
</mujoco>
)";
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
mj_addBufferVFS(vfs.get(), "xml_child.xml", xml_child, sizeof(xml_child));
std::array<char, 1024> er;
mjSpec* spec = mj_parseXMLString(xml_parent, vfs.get(), er.data(), er.size());
EXPECT_THAT(spec, NotNull()) << er.data();
mjModel* model = mj_compile(spec, vfs.get());
EXPECT_THAT(model, NotNull()) << er.data();
mjSpec* child = mjs_findSpec(spec, "child");
EXPECT_THAT(child, NotNull());
mjSpec* copy = mj_copySpec(spec);
EXPECT_THAT(copy, NotNull());
mjSpec* child_copy = mjs_findSpec(copy, "child");
EXPECT_THAT(child_copy, NotNull());
EXPECT_NE(child_copy, child);
mj_deleteSpec(spec);
mj_deleteSpec(copy);
mj_deleteModel(model);
mj_deleteVFS(vfs.get());
}
} // namespace
} // namespace mujoco