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Add frame element to MJCF.

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PiperOrigin-RevId: 585598244
Change-Id: I4c06be3dd586dab5a4458f05faaf1e7f2b615458
This commit is contained in:
Alessio Quaglino
2023-11-27 03:31:25 -08:00
committed by Copybara-Service
parent 8010aad7be
commit eb9568a48b
13 changed files with 411 additions and 17 deletions
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test/xml/xml_native_reader_test.cc
+33
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@@ -407,6 +407,39 @@ TEST_F(XMLReaderTest, InvalidDoubleOrientation) {
}
}
// ---------------------- test frame parsing ---------------------------------
TEST_F(XMLReaderTest, ParseFrame) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<frame euler="0 0 30">
<geom size=".1" euler="0 0 20"/>
</frame>
<body>
<frame pos="0 1 0">
<geom size=".1" pos="0 1 0"/>
<body pos="1 0 0">
<geom size=".1" pos="0 0 1"/>
</body>
</frame>
</body>
<frame euler="0 0 30">
<frame euler="0 0 20">
<geom size=".1"/>
</frame>
</frame>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, testing::NotNull()) << error.data();
mj_deleteModel(m);
}
// ---------------------- test camera parsing ---------------------------------
TEST_F(XMLReaderTest, CameraInvalidFovyAndSensorsize) {