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Add recursive call to FindSpec for handling nested attachments.

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PiperOrigin-RevId: 713629578
Change-Id: I23efa5a86bac187fc42eb955d29cc03cbacfd9e0
This commit is contained in:
Alessio Quaglino
2025-01-09 04:55:19 -08:00
committed by Copybara-Service
parent 40ef08c8ed
commit f7d38dac62
3 changed files with 39 additions and 7 deletions
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test/user/user_api_test.cc
+28 -3
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@@ -2033,6 +2033,19 @@ TEST_F(MujocoTest, ResizeParentKeyframe) {
}
TEST_F(MujocoTest, DifferentUnitsAllowed) {
static constexpr char gchild_xml[] = R"(
<mujoco model="gchild">
<compiler angle="radian"/>
<worldbody>
<body name="gchild" euler="-1.5707963 0 0">
<geom type="box" size="1 1 1"/>
<joint name="gchild_joint" range="-3.1415926 3.1415926"/>
</body>
</worldbody>
</mujoco>
)";
static constexpr char child_xml[] = R"(
<mujoco>
<compiler angle="radian"/>
@@ -2041,6 +2054,7 @@ TEST_F(MujocoTest, DifferentUnitsAllowed) {
<body name="child" euler="-1.5707963 0 0">
<geom type="box" size="1 1 1"/>
<joint name="child_joint" range="-3.1415926 3.1415926"/>
<frame name="frame" euler="1.5707963 0 0"/>
</body>
</worldbody>
</mujoco>
@@ -2059,19 +2073,27 @@ TEST_F(MujocoTest, DifferentUnitsAllowed) {
)";
std::array<char, 1024> error;
mjSpec* gchild =
mj_parseXMLString(gchild_xml, 0, error.data(), error.size());
mjSpec* child = mj_parseXMLString(child_xml, 0, error.data(), error.size());
mjSpec* spec = mj_parseXMLString(parent_xml, 0, error.data(), error.size());
ASSERT_THAT(spec, NotNull()) << error.data();
mjs_attachBody(mjs_findFrame(spec, "frame"), mjs_findBody(child, "child"),
mjs_attachBody(mjs_findFrame(child, "frame"),
mjs_findBody(gchild, "gchild"),
"gchild_", "");
mjs_attachBody(mjs_findFrame(spec, "frame"),
mjs_findBody(child, "child"),
"child_", "");
mjModel* model = mj_compile(spec, 0);
EXPECT_THAT(model, NotNull());
EXPECT_THAT(model->njnt, 2);
EXPECT_THAT(model->njnt, 3);
EXPECT_NEAR(model->jnt_range[0], -mjPI, 1e-6);
EXPECT_NEAR(model->jnt_range[1], mjPI, 1e-6);
EXPECT_NEAR(model->jnt_range[2], -mjPI, 1e-6);
EXPECT_NEAR(model->jnt_range[3], mjPI, 1e-6);
EXPECT_NEAR(model->jnt_range[4], -mjPI, 1e-6);
EXPECT_NEAR(model->jnt_range[5], mjPI, 1e-6);
EXPECT_NEAR(model->body_quat[4], 1, 1e-12);
EXPECT_NEAR(model->body_quat[5], 0, 1e-12);
EXPECT_NEAR(model->body_quat[6], 0, 1e-12);
@@ -2079,6 +2101,7 @@ TEST_F(MujocoTest, DifferentUnitsAllowed) {
mjSpec* copied_spec = mj_copySpec(spec);
ASSERT_THAT(copied_spec, NotNull());
mj_deleteSpec(gchild);
mj_deleteSpec(child);
mj_deleteSpec(spec);
mj_deleteModel(model);
@@ -2086,11 +2109,13 @@ TEST_F(MujocoTest, DifferentUnitsAllowed) {
// check that deleting `parent` or `child` does not invalidate the copy
mjModel* copied_model = mj_compile(copied_spec, 0);
EXPECT_THAT(copied_model, NotNull());
EXPECT_THAT(copied_model->njnt, 2);
EXPECT_THAT(copied_model->njnt, 3);
EXPECT_NEAR(copied_model->jnt_range[0], -mjPI, 1e-6);
EXPECT_NEAR(copied_model->jnt_range[1], mjPI, 1e-6);
EXPECT_NEAR(copied_model->jnt_range[2], -mjPI, 1e-6);
EXPECT_NEAR(copied_model->jnt_range[3], mjPI, 1e-6);
EXPECT_NEAR(copied_model->jnt_range[4], -mjPI, 1e-6);
EXPECT_NEAR(copied_model->jnt_range[5], mjPI, 1e-6);
EXPECT_NEAR(copied_model->body_quat[4], 1, 1e-12);
EXPECT_NEAR(copied_model->body_quat[5], 0, 1e-12);
EXPECT_NEAR(copied_model->body_quat[6], 0, 1e-12);