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Informative error if mis-naming the top-level default class.

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Also:
- Move the the top-level default class name into the mjCModel constructor.
- Fix bug in default class propagation in frame elements.
PiperOrigin-RevId: 646384669
Change-Id: Icc6154124361a234b84a07e2b5ecaa7c8b18ebf7
This commit is contained in:
Yuval Tassa
2024-06-25 01:45:10 -07:00
committed by Copybara-Service
parent 9e9a0c637e
commit d8b85245a7
4 changed files with 86 additions and 8 deletions
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test/xml/xml_native_reader_test.cc
+72
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@@ -464,6 +464,39 @@ TEST_F(XMLReaderTest, InvalidDoubleOrientation) {
}
}
TEST_F(XMLReaderTest, ClassOverridesChildclass) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<default class="size2">
<geom size="2"/>
</default>
<default class="size3">
<geom size="3"/>
</default>
</default>
<worldbody>
<frame childclass="size2">
<geom/>
<geom class="size3"/>
<body childclass="size2">
<geom/>
<geom class="size3"/>
</body>
</frame>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(model->geom_size[3*0], 2);
EXPECT_EQ(model->geom_size[3*1], 3);
EXPECT_EQ(model->geom_size[3*2], 2);
EXPECT_EQ(model->geom_size[3*3], 3);
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, RepeatedDefaultName) {
static constexpr char xml[] = R"(
<mujoco>
@@ -511,6 +544,45 @@ TEST_F(XMLReaderTest, InvalidDefaultClassName) {
HasSubstr("Element 'geom'"), HasSubstr("line 10")));
}
TEST_F(XMLReaderTest, InvalidTopDefaultClassName) {
static constexpr char xml[] = R"(
<mujoco>
<default class="sphere">
<geom type="sphere" size="1"/>
</default>
<worldbody>
<body>
<geom class="sphere"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull()) << error.data();
EXPECT_THAT(error.data(),
HasSubstr("top-level default class 'main' cannot be renamed"));
}
TEST_F(XMLReaderTest, ValidTopDefaultClassName) {
static constexpr char xml[] = R"(
<mujoco>
<default class="main">
<geom type="sphere" size="1"/>
</default>
<worldbody>
<body>
<geom class="main"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
mj_deleteModel(model);
}
// ------------------------ test including -------------------------------------
// tiny RGB 2 x 3 PNG file