Kyle Bayes
5ac5cfb618
PiperOrigin-RevId: 655286683 Change-Id: I846376a0571d8df28d979beb5981a0cbccd7a04f
238 lines
6.9 KiB
C++
238 lines
6.9 KiB
C++
// Copyright 2021 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <array>
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#include <cstdio>
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#include <string>
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <mujoco/mujoco.h>
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#include "src/user/user_resource.h"
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#include "src/user/user_vfs.h"
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#include "test/fixture.h"
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namespace mujoco {
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namespace {
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using ::testing::NotNull;
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using UserVfsTest = MujocoTest;
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static bool HasFile(const mjVFS* vfs, const std::string& filename) {
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mjResource* resource = mju_openResource("", filename.c_str(), vfs, nullptr, 0);
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bool result = resource != nullptr;
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mju_closeResource(resource);
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return result;
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}
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TEST_F(UserVfsTest, AddFile) {
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constexpr char path[] = "engine/testdata/actuation/";
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const std::string dir = GetTestDataFilePath(path);
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std::string file1 = "activation.xml";
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std::string file2 = "damper.xml";
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std::string file3 = "refsite.xml";
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std::FILE* fp1 = std::fopen((dir + file1).c_str(), "r");
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ASSERT_THAT(fp1, NotNull()) << "Input file1 missing.";
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std::fclose(fp1);
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std::FILE* fp2 = std::fopen((dir + file2).c_str(), "r");
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ASSERT_THAT(fp2, NotNull()) << "Input file2 missing.";
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std::fclose(fp2);
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std::FILE* fp3 = std::fopen((dir + file3).c_str(), "r");
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ASSERT_THAT(fp3, NotNull()) << "Input file3 missing.";
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std::fclose(fp3);
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mjVFS vfs;
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mj_defaultVFS(&vfs);
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EXPECT_FALSE(HasFile(&vfs, file1));
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EXPECT_THAT(mj_addFileVFS(&vfs, dir.c_str(), file1.c_str()), 0);
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EXPECT_TRUE(HasFile(&vfs, file1));
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EXPECT_THAT(mj_addFileVFS(&vfs, dir.c_str(), file2.c_str()), 0);
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EXPECT_TRUE(HasFile(&vfs, file1));
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EXPECT_TRUE(HasFile(&vfs, file2));
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EXPECT_THAT(mj_addFileVFS(&vfs, dir.c_str(), file3.c_str()), 0);
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EXPECT_TRUE(HasFile(&vfs, file1.c_str()));
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EXPECT_TRUE(HasFile(&vfs, file2.c_str()));
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EXPECT_TRUE(HasFile(&vfs, file3.c_str()));
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mj_deleteFileVFS(&vfs, file1.c_str());
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EXPECT_FALSE(HasFile(&vfs, file1.c_str()));
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EXPECT_TRUE(HasFile(&vfs, file2.c_str()));
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EXPECT_TRUE(HasFile(&vfs, file3.c_str()));
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mj_deleteFileVFS(&vfs, file3.c_str());
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EXPECT_FALSE(HasFile(&vfs, file1.c_str()));
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EXPECT_TRUE(HasFile(&vfs, file2.c_str()));
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EXPECT_FALSE(HasFile(&vfs, file3.c_str()));
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mj_deleteFileVFS(&vfs, file2.c_str());
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EXPECT_FALSE(HasFile(&vfs, file1.c_str()));
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EXPECT_FALSE(HasFile(&vfs, file2.c_str()));
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EXPECT_FALSE(HasFile(&vfs, file3.c_str()));
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mj_deleteVFS(&vfs);
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}
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TEST_F(UserVfsTest, AddFileStripPath) {
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mjVFS vfs;
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mj_defaultVFS(&vfs);
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constexpr char path[] = "engine/testdata/actuation/";
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const std::string dir = GetTestDataFilePath(path);
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std::string file1 = "activation.xml";
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mj_addFileVFS(&vfs, dir.c_str(), file1.c_str());
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EXPECT_TRUE(HasFile(&vfs, file1));
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EXPECT_TRUE(HasFile(&vfs, dir + file1));
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EXPECT_TRUE(HasFile(&vfs, "some/dir/" + file1));
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EXPECT_TRUE(HasFile(&vfs, "some/dir\\" + file1));
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mj_deleteVFS(&vfs);
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}
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TEST_F(UserVfsTest, AddFileRepeat) {
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mjVFS vfs;
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mj_defaultVFS(&vfs);
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constexpr char path[] = "engine/testdata/actuation/";
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const std::string dir = GetTestDataFilePath(path);
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std::string file1 = "activation.xml";
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mj_addFileVFS(&vfs, dir.c_str(), file1.c_str());
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EXPECT_TRUE(HasFile(&vfs, file1));
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EXPECT_THAT(mj_addFileVFS(&vfs, "dir/", file1.c_str()), 2);
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mj_deleteVFS(&vfs);
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}
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TEST_F(UserVfsTest, DeleteFile) {
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mjVFS vfs;
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mj_defaultVFS(&vfs);
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constexpr char path[] = "engine/testdata/actuation/";
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const std::string dir = GetTestDataFilePath(path);
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std::string file1 = "activation.xml";
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mj_addFileVFS(&vfs, dir.c_str(), file1.c_str());
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EXPECT_TRUE(HasFile(&vfs, file1));
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EXPECT_THAT(mj_deleteFileVFS(&vfs, file1.c_str()), 0);
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EXPECT_FALSE(HasFile(&vfs, file1));
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mj_deleteVFS(&vfs);
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}
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TEST_F(UserVfsTest, DeleteFileStripPath) {
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mjVFS vfs;
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mj_defaultVFS(&vfs);
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constexpr char path[] = "engine/testdata/actuation/";
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const std::string dir = GetTestDataFilePath(path);
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std::string file = "activation.xml";
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std::string fileUpper = "Activation.xml";
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mj_addFileVFS(&vfs, dir.c_str(), file.c_str());
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EXPECT_TRUE(HasFile(&vfs, file));
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EXPECT_THAT(mj_deleteFileVFS(&vfs, ("dir\\" + fileUpper).c_str()), 0);
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EXPECT_FALSE(HasFile(&vfs, file));
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mj_deleteVFS(&vfs);
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}
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TEST_F(UserVfsTest, DeleteFileRepeat) {
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mjVFS vfs;
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mj_defaultVFS(&vfs);
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constexpr char path[] = "engine/testdata/actuation/";
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const std::string dir = GetTestDataFilePath(path);
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std::string file = "activation.xml";
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mj_addFileVFS(&vfs, dir.c_str(), file.c_str());
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EXPECT_TRUE(HasFile(&vfs, file));
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EXPECT_THAT(mj_deleteFileVFS(&vfs, file.c_str()), 0);
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EXPECT_FALSE(HasFile(&vfs, file));
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EXPECT_THAT(mj_deleteFileVFS(&vfs, file.c_str()), -1);
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mj_deleteVFS(&vfs);
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}
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TEST_F(UserVfsTest, AddBuffer) {
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mjVFS vfs;
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mj_defaultVFS(&vfs);
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std::string buffer = "<mujoco/>";
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mj_addBufferVFS(&vfs, "model", static_cast<const void*>(buffer.c_str()),
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buffer.size());
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std::array<char, 1024> error;
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mjModel* model = mj_loadXML("model", &vfs, error.data(), error.size());
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ASSERT_THAT(model, NotNull()) << error.data();
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mj_deleteModel(model);
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mj_deleteVFS(&vfs);
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}
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TEST_F(UserVfsTest, AddBufferRepeat) {
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mjVFS vfs;
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mj_defaultVFS(&vfs);
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std::string buffer = "<mujoco/>";
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const void* ptr = static_cast<const void*>(buffer.c_str());
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mj_addBufferVFS(&vfs, "model", ptr, buffer.size());
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int result = mj_addBufferVFS(&vfs, "model", ptr, buffer.size());
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EXPECT_EQ(result, 2);
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mj_deleteVFS(&vfs);
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}
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TEST_F(UserVfsTest, BufferPath) {
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mjVFS vfs;
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mj_defaultVFS(&vfs);
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std::string buffer = "<mujoco/>";
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const void* ptr = static_cast<const void*>(buffer.c_str());
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mj_addBufferVFS(&vfs, "dir/model", ptr, buffer.size());
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EXPECT_TRUE(HasFile(&vfs, "files/../dir/model"));
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mj_deleteVFS(&vfs);
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}
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TEST_F(UserVfsTest, Timestamps) {
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static constexpr char cube[] = R"(
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v -0.500000 -0.500000 0.500000
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v 0.500000 -0.500000 0.500000
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v -0.500000 0.500000 0.500000
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v 0.500000 0.500000 0.500000
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v -0.500000 0.500000 -0.500000
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v 0.500000 0.500000 -0.500000
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v -0.500000 -0.500000 -0.500000
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v 0.500000 -0.500000 -0.500000)";
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mjVFS vfs;
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mj_defaultVFS(&vfs);
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mj_addBufferVFS(&vfs, "cube.obj", cube, sizeof(cube));
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mjResource* resource = mju_openResource("", "cube.obj", &vfs, nullptr, 0);
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// same timestamps
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EXPECT_EQ(mju_isModifiedResource(resource, resource->timestamp), 0);
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// different timestamps
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EXPECT_EQ(mju_isModifiedResource(resource, "QQ=="), 1);
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mju_closeResource(resource);
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mj_deleteVFS(&vfs);
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}
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} // namespace
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} // namespace mujoco
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