Alexis Fraudita
a2a770453e
-- 1fcff13dfdc70519c4d33e17ade4be6afb2960a2 by Alexis <cuatroalejandro@gmail.com>: add multipleBodies test for mj_loadXML -- 34270fa57946e68a82fa55313b64a5a56e5aa080 by Alexis <cuatroalejandro@gmail.com>: add some space -- 3594020eb9be57cb6a2eef0baeca97cee8f25aab by Alexis <cuatroalejandro@gmail.com>: remove TODO comment in xml_api_test COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/1487 from alefram:alexis-test 3594020eb9be57cb6a2eef0baeca97cee8f25aab PiperOrigin-RevId: 615033458 Change-Id: I05fe5659b07b3226b82d2562e31bcd73f150b089
117 lines
3.1 KiB
C++
117 lines
3.1 KiB
C++
// Copyright 2021 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.
|
|
|
|
// Tests for xml/xml_api.cc.
|
|
|
|
#include <array>
|
|
#include <cstddef>
|
|
#include <cstring>
|
|
#include <string>
|
|
|
|
#include <gmock/gmock.h>
|
|
#include <gtest/gtest.h>
|
|
#include <mujoco/mjdata.h>
|
|
#include <mujoco/mjmodel.h>
|
|
#include <mujoco/mujoco.h>
|
|
#include "test/fixture.h"
|
|
|
|
namespace mujoco {
|
|
namespace {
|
|
|
|
using ::testing::IsNull;
|
|
using ::testing::NotNull;
|
|
using ::testing::StartsWith;
|
|
|
|
// ---------------------------- test mj_loadXML --------------------------------
|
|
|
|
using LoadXmlTest = MujocoTest;
|
|
|
|
TEST_F(LoadXmlTest, EmptyModel) {
|
|
static constexpr char xml[] = "<mujoco/>";
|
|
mjModel* model = LoadModelFromString(xml, 0, 0);
|
|
ASSERT_THAT(model, NotNull());
|
|
EXPECT_EQ(model->nq, 0);
|
|
EXPECT_EQ(model->nv, 0);
|
|
EXPECT_EQ(model->nu, 0);
|
|
EXPECT_EQ(model->na, 0);
|
|
EXPECT_EQ(model->nbody, 1); // worldbody exists even in empty model
|
|
|
|
mjData* data = mj_makeData(model);
|
|
EXPECT_THAT(data, NotNull());
|
|
mj_step(model, data);
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(LoadXmlTest, InvalidXmlFailsToLoad) {
|
|
static constexpr char invalid_xml[] = "<mujoc";
|
|
std::array<char, 1024> error;
|
|
mjModel* model = LoadModelFromString(invalid_xml, error.data(), error.size());
|
|
EXPECT_THAT(model, IsNull()) << "Expected model loading to fail.";
|
|
EXPECT_GT(std::strlen(error.data()), 0);
|
|
if (model) {
|
|
mj_deleteModel(model);
|
|
}
|
|
}
|
|
|
|
TEST_F(LoadXmlTest, MultipleBodies) {
|
|
static constexpr char xml[] = R"(
|
|
<mujoco>
|
|
<worldbody>
|
|
<body>
|
|
<joint/>
|
|
<geom size="1"/>
|
|
</body>
|
|
<body>
|
|
<joint/>
|
|
<geom size="0.5"/>
|
|
</body>
|
|
</worldbody>
|
|
</mujoco>
|
|
)";
|
|
std::array<char, 1000> error;
|
|
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
|
|
|
|
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
|
|
EXPECT_EQ(model->nbody, 3);
|
|
|
|
mjData* data = mj_makeData(model);
|
|
EXPECT_THAT(data, NotNull());
|
|
mj_step(model, data);
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
using SaveLastXmlTest = MujocoTest;
|
|
|
|
TEST_F(SaveLastXmlTest, EmptyModel) {
|
|
static constexpr char xml[] = "<mujoco/>";
|
|
mjModel* model = LoadModelFromString(xml, 0, 0);
|
|
mjData* data = mj_makeData(model);
|
|
|
|
std::array<char, 1024> error;
|
|
error.data()[0] = '\0';
|
|
|
|
testing::internal::CaptureStdout();
|
|
mj_saveLastXML(nullptr, model, error.data(), error.size());
|
|
|
|
EXPECT_THAT(testing::internal::GetCapturedStdout(), StartsWith("<mujoco"));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
} // namespace
|
|
} // namespace mujoco
|