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Merge branch 'main' into newton-schemas

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This commit is contained in:
Sam Haves
2026-05-13 09:57:59 -04:00
committed by GitHub
parent 792f53c823 69a1087e9e
commit fc2237dad8
430 changed files with 44557 additions and 19852 deletions
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test/experimental/mjz/mjz_decoder_test.cc
-60
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@@ -1,60 +0,0 @@
// Copyright 2026 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <string>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <mujoco/mjspec.h>
#include <mujoco/mujoco.h>
#include "test/fixture.h"
namespace mujoco {
namespace {
using MjzTest = MujocoTest;
using ::testing::IsNull;
using ::testing::Not;
using ::testing::NotNull;
using ::testing::StrEq;
TEST_F(MjzTest, Parse) {
mjVFS vfs;
mj_defaultVFS(&vfs);
std::string filepath = GetTestDataFilePath("testdata/model.mjz");
char err[1000] = "";
mjSpec* spec = mj_parse(filepath.c_str(), "", &vfs, err, sizeof(err));
EXPECT_THAT(spec, NotNull());
EXPECT_THAT(err, StrEq(""));
mjModel* model = mj_compile(spec, &vfs);
EXPECT_THAT(model, NotNull()) << mjs_getError(spec);
mj_deleteModel(model);
mj_deleteSpec(spec);
mj_deleteVFS(&vfs);
}
TEST_F(MjzTest, InvalidPath) {
mjVFS vfs;
mj_defaultVFS(&vfs);
std::string filepath = GetTestDataFilePath("testdata/not_a_file.mjz");
char err[1000] = "";
mjSpec* spec = mj_parse(filepath.c_str(), "", nullptr, err, sizeof(err));
EXPECT_THAT(spec, IsNull());
EXPECT_THAT(err, Not(StrEq("")));
mj_deleteVFS(&vfs);
}
} // namespace
} // namespace mujoco
test/experimental/usd/mjcPhysics/mjc_physics_scene_test.cc
+2 -2
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@@ -172,6 +172,8 @@ TEST_F(MjcPhysicsSceneTest, TestDefaults) {
mjDSBL_EULERDAMP);
EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(AutoResetFlag,
mjDSBL_AUTORESET);
EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(MultiCCDFlag,
mjDSBL_MULTICCD);
EXPECT_ENABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(OverrideFlag,
mjENBL_OVERRIDE);
@@ -179,8 +181,6 @@ TEST_F(MjcPhysicsSceneTest, TestDefaults) {
EXPECT_ENABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(FwdinvFlag, mjENBL_FWDINV);
EXPECT_ENABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(InvDiscreteFlag,
mjENBL_INVDISCRETE);
EXPECT_ENABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(MultiCCDFlag,
mjENBL_MULTICCD);
mj_deleteModel(default_model);
mj_deleteSpec(empty_spec);