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Use procedural model creation in plugin tests.

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This will be useful for simplifying the mjSpec API for plugins.

PiperOrigin-RevId: 772505558
Change-Id: I8eb57d7e129e0f6430fb4c610a543e0dc0f3b295
This commit is contained in:
Alessio Quaglino
2025-06-17 09:29:52 -07:00
committed by Copybara-Service
parent d9aae1521a
commit d2501eff68
2 changed files with 29 additions and 24 deletions
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python/mujoco/specs_test.py
+1 -1
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@@ -861,7 +861,7 @@ class SpecsTest(absltest.TestCase):
body = spec.worldbody.add_body()
body.plugin = plugin
body.plugin.plugin_name = 'mujoco.elasticity.cable'
body.plugin.name = 'instance_name'
body.plugin.active = True
geom = body.add_geom()
test/user/user_api_test.cc
+28 -23
View File
@@ -18,6 +18,8 @@
#include <cstddef>
#include <cstdint>
#include <filesystem>
#include <functional>
#include <map>
#include <memory>
#include <string>
#include <vector>
@@ -343,32 +345,35 @@ TEST_F(PluginTest, AttachExplicitPlugin) {
</worldbody>
</mujoco>)";
static constexpr char xml_child[] = R"(
<mujoco>
<extension>
<plugin plugin="mujoco.sensor.touch_grid"/>
</extension>
<worldbody>
<body name="body">
<geom type="sphere" size=".1" />
<site name="touch2" size="0.001"/>
</body>
</worldbody>
<sensor>
<plugin name="touch2" plugin="mujoco.sensor.touch_grid" objtype="site" objname="touch2">
<config key="size" value="8 12"/>
<config key="fov" value="10 13"/>
<config key="gamma" value="0"/>
<config key="nchannel" value="1"/>
</plugin>
</sensor>
</mujoco>)";
std::array<char, 1000> err;
mjSpec* parent = mj_parseXMLString(xml_parent, 0, err.data(), err.size());
ASSERT_THAT(parent, NotNull()) << err.data();
mjSpec* child = mj_parseXMLString(xml_child, 0, err.data(), err.size());
ASSERT_THAT(child, NotNull()) << err.data();
mjSpec* child = mj_makeSpec();
mjsBody* body = mjs_addBody(mjs_findBody(child, "world"), 0);
mjsGeom* geom = mjs_addGeom(body, 0);
mjsSite* site = mjs_addSite(body, 0);
mjsSensor* sensor = mjs_addSensor(child);
mjsPlugin* plugin = mjs_addPlugin(child);
mjs_activatePlugin(child, "mujoco.sensor.touch_grid");
mjs_setString(plugin->plugin_name, "mujoco.sensor.touch_grid");
mjs_setString(sensor->plugin.plugin_name, "mujoco.sensor.touch_grid");
mjs_setString(body->name, "body");
mjs_setString(sensor->name, "touch2");
mjs_setString(sensor->objname, "touch2");
mjs_setString(site->name, "touch2");
geom->size[0] = 0.1;
site->size[0] = 0.001;
sensor->type = mjSENS_PLUGIN;
sensor->objtype = mjOBJ_SITE;
sensor->plugin.element = plugin->element;
sensor->plugin.active = true;
std::map<std::string, std::string, std::less<> > config_attribs;
config_attribs["size"] = "8 12";
config_attribs["fov"] = "10 13";
config_attribs["gamma"] = "0";
config_attribs["nchannel"] = "1";
mjs_setPluginAttributes(plugin, &config_attribs);
mjsBody* body_parent = mjs_findBody(parent, "body");
EXPECT_THAT(body_parent, NotNull());