BEGIN_PUBLIC
Replaced "shark" test models with lighter models to speed up tests. END_PUBLIC. - procedurally generated light cube - replaced shark GMSH with cube for all tests with extension GMSH - Reduced size of shark model used for tests with extension Ftetwild PiperOrigin-RevId: 631776421 Change-Id: I66f6b4058b86338a10d06c39bc93bef1c6fbdab6
This commit is contained in:
Mohammad Hamid
committed by
Copybara-Service
Copybara-Service
parent
13bf9ae6bd
commit
d6bc8c7781
@@ -34,12 +34,8 @@ test_model() {
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fi
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if [[ "$model" == */benchmark/testdata/humanoid200.xml ||
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"$model" == */engine/testdata/collision_convex/stacked_boxes.xml ||
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"$model" == */user/testdata/shark_41_ascii_gmshApp.xml ||
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"$model" == */user/testdata/shark_22_ascii_fTetWild.xml ||
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"$model" == */user/testdata/shark_22_ascii_gmshApp.xml ||
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"$model" == */user/testdata/shark_22_binary_fTetWild.xml ||
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"$model" == */user/testdata/shark_41_binary_gmshApp.xml ||
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"$model" == */user/testdata/shark_22_binary_gmshApp.xml
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"$model" == */user/testdata/shark_22_binary_fTetWild.xml
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]]; then
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iterations=2
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fi
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@@ -74,7 +70,7 @@ for model_dir in ${MODEL_DIRS[@]}; do
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echo "Skipping $model" >&2
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continue
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fi
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if [[ $(basename $model) == shark* ]]; then
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if [[ $(basename $model) == malformed* ]]; then
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echo "Skipping $model" >&2
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continue
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fi
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$EndElements
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+2
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@@ -18,7 +18,8 @@
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<worldbody>
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<geom name="floor" size="1 1 .05" type="plane" material="grid" condim="3"/>
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<light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>
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<flexcomp name="shark" type="gmsh" dim="3" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 0.3" mass="10" scale="1 1 1" file="shark_22_binary_gmshApp.msh">
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<flexcomp name="cube" type="gmsh" dim="3" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 0.3"
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mass="10" scale="1 1 1" file="cube_22_ascii_vol_gmshApp.msh">
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<edge equality="true"/>
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</flexcomp>
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</worldbody>
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Binary file not shown.
Vendored
+2
-1
@@ -18,7 +18,8 @@
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<worldbody>
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<geom name="floor" size="1 1 .05" type="plane" material="grid" condim="3"/>
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<light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>
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<flexcomp name="shark" type="gmsh" dim="3" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 0.3" mass="10" scale="1 1 1" file="shark_22_ascii_gmshApp.msh">
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<flexcomp name="shark" type="gmsh" dim="3" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 0.3"
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mass="10" scale="1 1 1" file="cube_22_binary_vol_gmshApp.msh">
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<edge equality="true"/>
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</flexcomp>
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</worldbody>
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Vendored
+2
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@@ -18,7 +18,8 @@
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<worldbody>
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<geom name="floor" size="20 20 .05" type="plane" material="grid" condim="3"/>
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<light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>
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<flexcomp name="shark" type="gmsh" dim="3" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4" mass="10" scale="1 1 1" file="shark_41_ascii_gmshApp.msh">
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<flexcomp name="shark" type="gmsh" dim="3" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4"
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mass="10" scale="1 1 1" file="cube_41_ascii_vol_gmshApp.msh">
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<edge equality="true"/>
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</flexcomp>
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</worldbody>
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Binary file not shown.
Vendored
+2
-1
@@ -18,7 +18,8 @@
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<worldbody>
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<geom name="floor" size="20 20 .05" type="plane" material="grid" condim="3"/>
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<light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>
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<flexcomp name="shark" type="gmsh" dim="3" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4" mass="10" scale="1 1 1" file="shark_41_binary_gmshApp.msh">
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<flexcomp name="shark" type="gmsh" dim="3" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4"
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mass="10" scale="1 1 1" file="cube_41_binary_vol_gmshApp.msh">
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<edge equality="true"/>
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</flexcomp>
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</worldbody>
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@@ -0,0 +1,46 @@
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$EndElements
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+2
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@@ -18,7 +18,8 @@
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<worldbody>
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<geom name="floor" size="20 20 .05" type="plane" material="grid" condim="3"/>
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<light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>
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<flexcomp name="shark" type="gmsh" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4" mass="10" scale="1 1 1" file="shark_22_ascii_missing_element.msh">
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<flexcomp name="cube" type="gmsh" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4" mass="10"
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scale="1 1 1" file="malformed_cube_22_ascii_missing_element.msh">
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<edge equality="true"/>
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</flexcomp>
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</worldbody>
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+2
-2
@@ -19,8 +19,8 @@
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<worldbody>
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<geom name="floor" size="20 20 .05" type="plane" material="grid" condim="3" />
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<light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" />
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<flexcomp name="shark binary 2.2" type="gmsh" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4"
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mass="10" scale="1 1 1" file="shark_41_ascii_missing_element.msh">
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<flexcomp name="cube" type="gmsh" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4" mass="10"
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scale="1 1 1" file="malformed_cube_22_ascii_missing_node.msh">
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<edge equality="true" />
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</flexcomp>
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</worldbody>
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$EndElements
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@@ -0,0 +1,27 @@
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<mujoco model="gmsh">
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<option timestep="0.01" integrator="implicitfast" solver="CG" />
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|
||||
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|
||||
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512" />
|
||||
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3"
|
||||
rgb2=".2 .3 .4" />
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<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2" />
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||||
</asset>
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||||
|
||||
<visual>
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||||
<headlight diffuse="0.9 0.9 0.9" ambient="0.3 0.3 0.3" specular="0 0 0" />
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||||
<map force="0.1" zfar="30" />
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||||
<rgba haze="0.15 0.25 0.35 1" />
|
||||
<quality shadowsize="4096" />
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<global offwidth="800" offheight="800" />
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</visual>
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||||
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<worldbody>
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||||
<geom name="floor" size="20 20 .05" type="plane" material="grid" condim="3" />
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||||
<light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" />
|
||||
<flexcomp name="cube" type="gmsh" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4" mass="10"
|
||||
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|
||||
<edge equality="true" />
|
||||
</flexcomp>
|
||||
</worldbody>
|
||||
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$EndElements
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@@ -0,0 +1,27 @@
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|
||||
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512" />
|
||||
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3"
|
||||
rgb2=".2 .3 .4" />
|
||||
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2" />
|
||||
</asset>
|
||||
|
||||
<visual>
|
||||
<headlight diffuse="0.9 0.9 0.9" ambient="0.3 0.3 0.3" specular="0 0 0" />
|
||||
<map force="0.1" zfar="30" />
|
||||
<rgba haze="0.15 0.25 0.35 1" />
|
||||
<quality shadowsize="4096" />
|
||||
<global offwidth="800" offheight="800" />
|
||||
</visual>
|
||||
|
||||
<worldbody>
|
||||
<geom name="floor" size="20 20 .05" type="plane" material="grid" condim="3" />
|
||||
<light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" />
|
||||
<flexcomp name="shark binary 2.2" type="gmsh" dim="3" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4"
|
||||
mass="10" scale="1 1 1" file="shark_41_ascii_missing_node_index.msh">
|
||||
<edge equality="true" />
|
||||
</flexcomp>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
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+23
-23
@@ -245,13 +245,13 @@ TEST_F(UserFlexTest, RigidFlex) {
|
||||
|
||||
TEST_F(UserFlexTest, LoadMSHBinaryGMSH_41_Success) {
|
||||
const std::string xml_path =
|
||||
GetTestDataFilePath("user/testdata/shark_41_binary_gmshApp.xml");
|
||||
GetTestDataFilePath("user/testdata/cube_41_binary_vol_gmshApp.xml");
|
||||
std::array<char, 1024> error;
|
||||
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
|
||||
ASSERT_THAT(m, NotNull()) << error.data();
|
||||
mjData* d = mj_makeData(m);
|
||||
EXPECT_EQ(m->nflexvert, 652);
|
||||
EXPECT_EQ(m->nflexelem, 1654);
|
||||
EXPECT_EQ(m->nflexvert, 14);
|
||||
EXPECT_EQ(m->nflexelem, 24);
|
||||
mj_step(m, d);
|
||||
mj_deleteModel(m);
|
||||
mj_deleteData(d);
|
||||
@@ -259,13 +259,13 @@ TEST_F(UserFlexTest, LoadMSHBinaryGMSH_41_Success) {
|
||||
|
||||
TEST_F(UserFlexTest, LoadMSHBinaryGMSH_22_Success) {
|
||||
const std::string xml_path =
|
||||
GetTestDataFilePath("user/testdata/shark_22_binary_gmshApp.xml");
|
||||
GetTestDataFilePath("user/testdata/cube_22_binary_vol_gmshApp.xml");
|
||||
std::array<char, 1024> error;
|
||||
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
|
||||
ASSERT_THAT(m, NotNull()) << error.data();
|
||||
mjData* d = mj_makeData(m);
|
||||
EXPECT_EQ(m->nflexvert, 644);
|
||||
EXPECT_EQ(m->nflexelem, 1635);
|
||||
EXPECT_EQ(m->nflexvert, 14);
|
||||
EXPECT_EQ(m->nflexelem, 24);
|
||||
mj_step(m, d);
|
||||
mj_deleteModel(m);
|
||||
mj_deleteData(d);
|
||||
@@ -328,8 +328,8 @@ TEST_F(UserFlexTest, LoadMSHBinaryFTETWILD_22_Success) {
|
||||
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
|
||||
ASSERT_THAT(m, NotNull()) << error.data();
|
||||
mjData* d = mj_makeData(m);
|
||||
EXPECT_EQ(m->nflexvert, 644);
|
||||
EXPECT_EQ(m->nflexelem, 1635);
|
||||
EXPECT_EQ(m->nflexvert, 429);
|
||||
EXPECT_EQ(m->nflexelem, 1073);
|
||||
mj_step(m, d);
|
||||
mj_deleteModel(m);
|
||||
mj_deleteData(d);
|
||||
@@ -337,13 +337,13 @@ TEST_F(UserFlexTest, LoadMSHBinaryFTETWILD_22_Success) {
|
||||
|
||||
TEST_F(UserFlexTest, LoadMSHASCIIGMSH_41_Success) {
|
||||
const std::string xml_path =
|
||||
GetTestDataFilePath("user/testdata/shark_41_ascii_gmshApp.xml");
|
||||
GetTestDataFilePath("user/testdata/cube_41_ascii_vol_gmshApp.xml");
|
||||
std::array<char, 1024> error;
|
||||
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
|
||||
ASSERT_THAT(m, NotNull()) << error.data();
|
||||
mjData* d = mj_makeData(m);
|
||||
EXPECT_EQ(m->nflexvert, 652);
|
||||
EXPECT_EQ(m->nflexelem, 1654);
|
||||
EXPECT_EQ(m->nflexvert, 14);
|
||||
EXPECT_EQ(m->nflexelem, 24);
|
||||
mj_step(m, d);
|
||||
mj_deleteModel(m);
|
||||
mj_deleteData(d);
|
||||
@@ -351,13 +351,13 @@ TEST_F(UserFlexTest, LoadMSHASCIIGMSH_41_Success) {
|
||||
|
||||
TEST_F(UserFlexTest, LoadMSHASCIIGMSH_22_Success) {
|
||||
const std::string xml_path =
|
||||
GetTestDataFilePath("user/testdata/shark_22_ascii_gmshApp.xml");
|
||||
GetTestDataFilePath("user/testdata/cube_22_ascii_vol_gmshApp.xml");
|
||||
std::array<char, 1024> error;
|
||||
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
|
||||
ASSERT_THAT(m, NotNull()) << error.data();
|
||||
mjData* d = mj_makeData(m);
|
||||
EXPECT_EQ(m->nflexvert, 652);
|
||||
EXPECT_EQ(m->nflexelem, 1654);
|
||||
EXPECT_EQ(m->nflexvert, 14);
|
||||
EXPECT_EQ(m->nflexelem, 24);
|
||||
mj_step(m, d);
|
||||
mj_deleteModel(m);
|
||||
mj_deleteData(d);
|
||||
@@ -420,8 +420,8 @@ TEST_F(UserFlexTest, LoadMSHASCIIFTETWILD_22_Success) {
|
||||
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
|
||||
ASSERT_THAT(m, NotNull()) << error.data();
|
||||
mjData* d = mj_makeData(m);
|
||||
EXPECT_EQ(m->nflexvert, 652);
|
||||
EXPECT_EQ(m->nflexelem, 1654);
|
||||
EXPECT_EQ(m->nflexvert, 425);
|
||||
EXPECT_EQ(m->nflexelem, 1070);
|
||||
mj_step(m, d);
|
||||
mj_deleteModel(m);
|
||||
mj_deleteData(d);
|
||||
@@ -430,7 +430,7 @@ TEST_F(UserFlexTest, LoadMSHASCIIFTETWILD_22_Success) {
|
||||
TEST_F(UserFlexTest, LoadMSHASCII_41_MissingNodeHeader_Fail) {
|
||||
const std::string xml_path =
|
||||
GetTestDataFilePath(
|
||||
"user/testdata/malformed_shark_41_ascii_missing_node_header.xml");
|
||||
"user/testdata/malformed_cube_41_ascii_missing_node_header.xml");
|
||||
std::array<char, 1024> error;
|
||||
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
|
||||
EXPECT_THAT(error.data(), HasSubstr(
|
||||
@@ -441,7 +441,7 @@ TEST_F(UserFlexTest, LoadMSHASCII_41_MissingNodeHeader_Fail) {
|
||||
TEST_F(UserFlexTest, LoadMSHASCII_41_MissingNodeIndex_Fail) {
|
||||
const std::string xml_path =
|
||||
GetTestDataFilePath(
|
||||
"user/testdata/malformed_shark_41_ascii_missing_node_index.xml");
|
||||
"user/testdata/malformed_cube_41_ascii_missing_node_index.xml");
|
||||
std::array<char, 1024> error;
|
||||
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
|
||||
EXPECT_THAT(error.data(), HasSubstr(
|
||||
@@ -452,7 +452,7 @@ TEST_F(UserFlexTest, LoadMSHASCII_41_MissingNodeIndex_Fail) {
|
||||
TEST_F(UserFlexTest, LoadMSHASCII_41_MissingElementHeader_Fail) {
|
||||
const std::string xml_path =
|
||||
GetTestDataFilePath(
|
||||
"user/testdata/malformed_shark_41_ascii_missing_element_header.xml");
|
||||
"user/testdata/malformed_cube_41_ascii_missing_element_header.xml");
|
||||
std::array<char, 1024> error;
|
||||
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
|
||||
EXPECT_THAT(error.data(), HasSubstr(
|
||||
@@ -463,7 +463,7 @@ TEST_F(UserFlexTest, LoadMSHASCII_41_MissingElementHeader_Fail) {
|
||||
TEST_F(UserFlexTest, LoadMSHASCII_41_MissingElement_Fail) {
|
||||
const std::string xml_path =
|
||||
GetTestDataFilePath(
|
||||
"user/testdata/malformed_shark_41_ascii_missing_element.xml");
|
||||
"user/testdata/malformed_cube_41_ascii_missing_element.xml");
|
||||
std::array<char, 1024> error;
|
||||
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
|
||||
EXPECT_THAT(error.data(), HasSubstr(
|
||||
@@ -474,7 +474,7 @@ TEST_F(UserFlexTest, LoadMSHASCII_41_MissingElement_Fail) {
|
||||
TEST_F(UserFlexTest, LoadMSHASCII_22_MissingNumNodes_Fail) {
|
||||
const std::string xml_path =
|
||||
GetTestDataFilePath(
|
||||
"user/testdata/malformed_shark_22_ascii_missing_num_nodes.xml");
|
||||
"user/testdata/malformed_cube_22_ascii_missing_num_nodes.xml");
|
||||
std::array<char, 1024> error;
|
||||
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
|
||||
// TODO(mohammadhamid): Replace with an assertion about the error message. For
|
||||
@@ -486,7 +486,7 @@ TEST_F(UserFlexTest, LoadMSHASCII_22_MissingNumNodes_Fail) {
|
||||
TEST_F(UserFlexTest, LoadMSHASCII_22_MissingNode_Fail) {
|
||||
const std::string xml_path =
|
||||
GetTestDataFilePath(
|
||||
"user/testdata/malformed_shark_22_ascii_missing_node.xml");
|
||||
"user/testdata/malformed_cube_22_ascii_missing_node.xml");
|
||||
std::array<char, 1024> error;
|
||||
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
|
||||
EXPECT_THAT(error.data(), HasSubstr(
|
||||
@@ -509,7 +509,7 @@ TEST_F(UserFlexTest, LoadMSHASCII_22_MissingNumElements_Fail) {
|
||||
TEST_F(UserFlexTest, LoadMSHASCII_22_MissingElement_Fail) {
|
||||
const std::string xml_path =
|
||||
GetTestDataFilePath(
|
||||
"user/testdata/malformed_shark_22_ascii_missing_element.xml");
|
||||
"user/testdata/malformed_cube_22_ascii_missing_element.xml");
|
||||
std::array<char, 1024> error;
|
||||
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
|
||||
EXPECT_THAT(error.data(), HasSubstr(
|
||||
|
||||
Reference in New Issue
Block a user