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Add plugin tests for mjSpec.

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Fixes #1903.

PiperOrigin-RevId: 663352920
Change-Id: I3a9e17aec5694e49c20b542f4b0a4402f88a2f17
This commit is contained in:
Alessio Quaglino
2024-08-15 10:18:56 -07:00
committed by Copybara-Service
parent 64575f399b
commit e0e134ca63
5 changed files with 79 additions and 5 deletions
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test/user/user_api_test.cc
+36
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@@ -20,6 +20,7 @@
#include <filesystem>
#include <memory>
#include <string>
#include <utility>
#include <vector>
#include <gmock/gmock.h>
@@ -104,6 +105,41 @@ TEST_F(MujocoTest, TreeTraversal) {
mj_deleteSpec(spec);
}
TEST_F(PluginTest, ActivatePlugin) {
std::string plugin_name = "mujoco.elasticity.cable";
mjSpec* spec = mj_makeSpec();
// get slot of requested plugin
int plugin_slot = -1;
const mjpPlugin* plugin = mjp_getPlugin(plugin_name.c_str(), &plugin_slot);
EXPECT_THAT(plugin, NotNull());
// activated plugin in the slot
std::vector<std::pair<const mjpPlugin*, int>> active_plugins;
active_plugins.emplace_back(std::make_pair(plugin, plugin_slot));
mjs_setActivePlugins(spec, &active_plugins);
// associate plugin to body
mjsBody* body = mjs_addBody(mjs_findBody(spec, "world"), 0);
mjs_setString(body->plugin.name, plugin_name.c_str());
body->plugin.instance = mjs_addPlugin(spec)->instance;
body->plugin.active = true;
mjsGeom* geom = mjs_addGeom(body, 0);
geom->type = mjGEOM_BOX;
geom->size[0] = 1;
geom->size[1] = 1;
geom->size[2] = 1;
// compile and check that the plugin is present
mjModel* model = mj_compile(spec, NULL);
EXPECT_THAT(model, NotNull());
EXPECT_THAT(model->nplugin, 1);
EXPECT_THAT(model->body_plugin[1], 0);
mj_deleteSpec(spec);
mj_deleteModel(model);
}
// ------------------- test recompilation multiple files -----------------------
TEST_F(PluginTest, RecompileCompare) {
mjtNum tol = 0;