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Improve error message for invalid keyframe values.

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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
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src/user/user_objects.cc
+6 -6
View File
@@ -4064,7 +4064,7 @@ void mjCKey::Compile(const mjModel* m) {
qpos[i] = (double)m->qpos0[i]; qpos[i] = (double)m->qpos0[i];
} }
} else if (qpos.size()!=m->nq) { } else if (qpos.size()!=m->nq) {
throw mjCError(this, "key %d: invalid qpos size", 0, id); throw mjCError(this, "key %d: invalid qpos size, expected length %d", nullptr, id, m->nq);
} }
// qvel: allocate or check size // qvel: allocate or check size
@@ -4074,7 +4074,7 @@ void mjCKey::Compile(const mjModel* m) {
qvel[i] = 0; qvel[i] = 0;
} }
} else if (qvel.size()!=m->nv) { } else if (qvel.size()!=m->nv) {
throw mjCError(this, "key %d: invalid qvel size", 0, id); throw mjCError(this, "key %d: invalid qvel size, expected length %d", nullptr, id, m->nv);
} }
// act: allocate or check size // act: allocate or check size
@@ -4084,7 +4084,7 @@ void mjCKey::Compile(const mjModel* m) {
act[i] = 0; act[i] = 0;
} }
} else if (act.size()!=m->na) { } else if (act.size()!=m->na) {
throw mjCError(this, "key %d: invalid act size", 0, id); throw mjCError(this, "key %d: invalid act size, expected length %d", nullptr, id, m->na);
} }
// mpos: allocate or check size // mpos: allocate or check size
@@ -4101,7 +4101,7 @@ void mjCKey::Compile(const mjModel* m) {
} }
} }
} else if (mpos.size()!=3*m->nmocap) { } else if (mpos.size()!=3*m->nmocap) {
throw mjCError(this, "key %d: invalid mpos size", 0, id); throw mjCError(this, "key %d: invalid mpos size, expected length %d", nullptr, id, 3*m->nmocap);
} }
// mquat: allocate or check size // mquat: allocate or check size
@@ -4119,7 +4119,7 @@ void mjCKey::Compile(const mjModel* m) {
} }
} }
} else if (mquat.size()!=4*m->nmocap) { } else if (mquat.size()!=4*m->nmocap) {
throw mjCError(this, "key %d: invalid mquat size", 0, id); throw mjCError(this, "key %d: invalid mquat size, expected length %d", nullptr, id, 4*m->nmocap);
} }
// ctrl: allocate or check size // ctrl: allocate or check size
@@ -4129,7 +4129,7 @@ void mjCKey::Compile(const mjModel* m) {
ctrl[i] = 0; ctrl[i] = 0;
} }
} else if (ctrl.size()!=m->nu) { } else if (ctrl.size()!=m->nu) {
throw mjCError(this, "key %d: invalid ctrl size", 0, id); throw mjCError(this, "key %d: invalid ctrl size, expected length %d", nullptr, id, m->nu);
} }
} }
test/user/user_objects_test.cc
+19 -2
View File
@@ -39,9 +39,11 @@ using ::testing::NotNull;
// ------------------------ test keyframes ------------------------------------- // ------------------------ test keyframes -------------------------------------
using KeyframeTest = MujocoTest;
constexpr char kKeyframePath[] = "user/testdata/keyframe.xml"; constexpr char kKeyframePath[] = "user/testdata/keyframe.xml";
TEST_F(MujocoTest, KeyFrameTest) { TEST_F(KeyframeTest, CheckValues) {
const std::string xml_path = GetTestDataFilePath(kKeyframePath); const std::string xml_path = GetTestDataFilePath(kKeyframePath);
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0); mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
ASSERT_THAT(model, NotNull()); ASSERT_THAT(model, NotNull());
@@ -59,7 +61,7 @@ TEST_F(MujocoTest, KeyFrameTest) {
mj_deleteModel(model); mj_deleteModel(model);
} }
TEST_F(MujocoTest, ResetDataKeyframeTest) { TEST_F(KeyframeTest, ResetDataKeyframe) {
const std::string xml_path = GetTestDataFilePath(kKeyframePath); const std::string xml_path = GetTestDataFilePath(kKeyframePath);
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0); mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
ASSERT_THAT(model, NotNull()); ASSERT_THAT(model, NotNull());
@@ -91,6 +93,21 @@ TEST_F(MujocoTest, ResetDataKeyframeTest) {
mj_deleteModel(model); 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------------------------- // ------------- test relative frame sensor compilation-------------------------
using RelativeFrameSensorParsingTest = MujocoTest; using RelativeFrameSensorParsingTest = MujocoTest;