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Delete plugins when their corresponding objects are deleted, if their instance belonged the object.

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Fixes #2061.

PiperOrigin-RevId: 676402701
Change-Id: Ia4807d57a3763e2100702b7e7ec96c300d0a9cfb
This commit is contained in:
Alessio Quaglino
2024-09-19 07:20:44 -07:00
committed by Copybara-Service
parent f161b63a22
commit f4381e12a2
5 changed files with 89 additions and 0 deletions
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test/user/user_api_test.cc
+51
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@@ -165,6 +165,57 @@ TEST_F(PluginTest, ActivatePlugin) {
mj_deleteModel(model);
}
TEST_F(PluginTest, DeletePlugin) {
std::string plugin_name = "mujoco.pid";
mjSpec* spec = mj_makeSpec();
// get slot of requested plugin
int plugin_slot = -1;
const mjpPlugin* plugin = mjp_getPlugin(plugin_name.c_str(), &plugin_slot);
ASSERT_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);
// create body
mjsBody* body = mjs_addBody(mjs_findBody(spec, "world"), 0);
mjsJoint* joint = mjs_addJoint(body, 0);
mjsGeom* geom = mjs_addGeom(body, 0);
mjs_setString(joint->name, "j1");
joint->type = mjJNT_SLIDE;
geom->size[0] = 1;
// add actuator
mjsActuator* actuator = mjs_addActuator(spec, 0);
mjs_setString(actuator->target, "j1");
mjs_setString(actuator->plugin.name, plugin_name.c_str());
actuator->plugin.instance = mjs_addPlugin(spec)->instance;
actuator->plugin.active = true;
actuator->trntype = mjTRN_JOINT;
// compile and check that the plugin is present
mjModel* model = mj_compile(spec, NULL);
EXPECT_THAT(model, NotNull());
EXPECT_THAT(model->nu, 1);
EXPECT_THAT(model->nplugin, 1);
EXPECT_THAT(model->actuator_plugin[0], 0);
// delete actuator
mjs_delete(actuator->element);
// recompile and check that the plugin is not present
mjModel* newmodel = mj_compile(spec, NULL);
EXPECT_THAT(newmodel, NotNull());
EXPECT_THAT(newmodel->nu, 0);
EXPECT_THAT(newmodel->nplugin, 0);
mj_deleteSpec(spec);
mj_deleteModel(model);
mj_deleteModel(newmodel);
}
TEST_F(MujocoTest, RecompileFails) {
mjSpec* spec = mj_makeSpec();
mjsBody* body = mjs_addBody(mjs_findBody(spec, "world"), 0);