chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Improve error message for invalid keyframe values.

Browse Source 
PiperOrigin-RevId: 470007035
Change-Id: I482aea255954b0ec811b7400226419836d8449e3
This commit is contained in:
Kevin Zakka
2022-08-25 09:22:32 -07:00
committed by Copybara-Service
parent c7e36e9350
commit e2c3f04097
2 changed files with 25 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/user/user_objects_test.cc
+19 -2
View File
@@ -39,9 +39,11 @@ using ::testing::NotNull;
// ------------------------ test keyframes -------------------------------------
using KeyframeTest = MujocoTest;
constexpr char kKeyframePath[] = "user/testdata/keyframe.xml";
TEST_F(MujocoTest, KeyFrameTest) {
TEST_F(KeyframeTest, CheckValues) {
const std::string xml_path = GetTestDataFilePath(kKeyframePath);
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
ASSERT_THAT(model, NotNull());
@@ -59,7 +61,7 @@ TEST_F(MujocoTest, KeyFrameTest) {
mj_deleteModel(model);
}
TEST_F(MujocoTest, ResetDataKeyframeTest) {
TEST_F(KeyframeTest, ResetDataKeyframe) {
const std::string xml_path = GetTestDataFilePath(kKeyframePath);
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
ASSERT_THAT(model, NotNull());
@@ -91,6 +93,21 @@ TEST_F(MujocoTest, ResetDataKeyframeTest) {
mj_deleteModel(model);
}
TEST_F(KeyframeTest, BadSize) {
static constexpr char xml[] = R"(
<mujoco>
<keyframe>
<key qpos="1"/>
</keyframe>
</mujoco>
)";
char error[1024];
size_t error_sz = 1024;
mjModel* model = LoadModelFromString(xml, error, error_sz);
EXPECT_THAT(model, ::testing::IsNull());
EXPECT_THAT(error, HasSubstr("invalid qpos size, expected length 0"));
}
// ------------- test relative frame sensor compilation-------------------------
using RelativeFrameSensorParsingTest = MujocoTest;