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Add test explaining body_rootid and body_weldid semantics

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PiperOrigin-RevId: 835197910
Change-Id: If85ca80d3b576e2469cf0d9900441ddb9fd64462
This commit is contained in:
Yuval Tassa
2025-11-21 06:24:24 -08:00
committed by Copybara-Service
parent 7e6cb642a3
commit f8b92410d4
1 changed files with 68 additions and 9 deletions
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test/user/user_model_test.cc
+68 -9
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@@ -45,9 +45,68 @@ static std::vector<mjtNum> GetRow(const mjtNum* array, int ncolumn, int row) {
// ----------------------------- test mjCModel --------------------------------
using UserCModelTest = MujocoTest;
using UserModelTest = MujocoTest;
TEST_F(UserCModelTest, RepeatedNames) {
// clarify the semantic of body_rootid and body_weldid
TEST_F(UserModelTest, WeldRootID) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body name="1">
<joint/>
<geom size="1"/>
<body name="2">
<joint/>
<geom size="1"/>
</body>
</body>
<body name="3">
<joint/>
<geom size="1"/>
<body name="4">
<geom size="1"/>
</body>
</body>
<body name="5">
<geom size="1"/>
<body name="6">
<geom size="1"/>
</body>
</body>
<body name="7" mocap="true">
<geom size="1"/>
<body name="8">
<geom size="1"/>
</body>
</body>
<body name="9" mocap="true">
<geom size="1"/>
<body name="10">
<joint/>
<geom size="1"/>
</body>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, NotNull());
EXPECT_THAT(AsVector(model->body_rootid, model->nbody),
ElementsAre(0, 1, 1, 3, 3, 5, 5, 7, 7, 9, 9));
EXPECT_THAT(AsVector(model->body_weldid, model->nbody),
ElementsAre(0, 1, 2, 3, 3, 0, 0, 0, 0, 0, 10));
mj_deleteModel(model);
}
TEST_F(UserModelTest, RepeatedNames) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
@@ -65,7 +124,7 @@ TEST_F(UserCModelTest, RepeatedNames) {
EXPECT_THAT(error.data(), HasSubstr("repeated name 'geom1' in geom"));
}
TEST_F(UserCModelTest, SameFrame) {
TEST_F(UserModelTest, SameFrame) {
static constexpr char xml[] = R"(
<mujoco>
<default>
@@ -116,7 +175,7 @@ TEST_F(UserCModelTest, SameFrame) {
mj_deleteModel(model);
}
TEST_F(UserCModelTest, ActuatorSparsity) {
TEST_F(UserModelTest, ActuatorSparsity) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
@@ -140,7 +199,7 @@ TEST_F(UserCModelTest, ActuatorSparsity) {
mj_deleteModel(m);
}
TEST_F(UserCModelTest, NestedZeroMassBodiesOK) {
TEST_F(UserModelTest, NestedZeroMassBodiesOK) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
@@ -163,7 +222,7 @@ TEST_F(UserCModelTest, NestedZeroMassBodiesOK) {
mj_deleteModel(model);
}
TEST_F(UserCModelTest, NestedZeroMassBodiesWithJointOK) {
TEST_F(UserModelTest, NestedZeroMassBodiesWithJointOK) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
@@ -190,7 +249,7 @@ TEST_F(UserCModelTest, NestedZeroMassBodiesWithJointOK) {
mj_deleteModel(model);
}
TEST_F(UserCModelTest, NestedZeroMassBodiesFail) {
TEST_F(UserModelTest, NestedZeroMassBodiesFail) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
@@ -218,7 +277,7 @@ TEST_F(UserCModelTest, NestedZeroMassBodiesFail) {
mj_deleteModel(model);
}
TEST_F(UserCModelTest, ConvexHullForCollisionMeshes) {
TEST_F(UserModelTest, ConvexHullForCollisionMeshes) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
@@ -262,7 +321,7 @@ TEST_F(UserCModelTest, ConvexHullForCollisionMeshes) {
mj_deleteModel(model);
}
TEST_F(UserCModelTest, ConvexHullForPairCollisionMeshes) {
TEST_F(UserModelTest, ConvexHullForPairCollisionMeshes) {
static constexpr char xml[] = R"(
<mujoco>
<asset>