Alessio Quaglino
16baac9353
- Applies to [orientation specifiers](https://mujoco.readthedocs.io/en/latest/modeling.html#frame-orientations) in `body`, `inertial`, `geom`, `site`, `camera`. - Before this change the check was done only for multiple *alternative* specifiers, but not for `quat` and an alternative specifier. - Moved the check from the compiler to the parser. - Added tests. PiperOrigin-RevId: 453201981 Change-Id: I20907361f211dae904e734cd083e9df0efe4f654
343 lines
9.4 KiB
C++
343 lines
9.4 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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// Tests for xml/xml_native_reader.cc.
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#include <array>
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#include <cstddef>
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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/mjmodel.h>
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#include <mujoco/mujoco.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::HasSubstr;
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using ::testing::IsNull;
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using UserDataTest = MujocoTest;
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TEST_F(UserDataTest, InvalidNUserBody) {
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static constexpr char xml[] = R"(
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<mujoco>
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<size nuser_body="-2"/>
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</mujoco>
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)";
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std::array<char, 1024> error;
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mjModel* model = LoadModelFromString(xml, error.data(), error.size());
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ASSERT_THAT(model, IsNull());
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EXPECT_THAT(error.data(), HasSubstr("nuser_body"));
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}
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TEST_F(UserDataTest, InvalidNUserJoint) {
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static constexpr char xml[] = R"(
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<mujoco>
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<size nuser_jnt="-2"/>
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</mujoco>
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)";
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std::array<char, 1024> error;
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mjModel* model = LoadModelFromString(xml, error.data(), error.size());
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ASSERT_THAT(model, IsNull());
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EXPECT_THAT(error.data(), HasSubstr("nuser_jnt"));
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}
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TEST_F(UserDataTest, InvalidNUserGeom) {
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static constexpr char xml[] = R"(
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<mujoco>
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<size nuser_geom="-2"/>
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</mujoco>
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)";
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std::array<char, 1024> error;
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mjModel* model = LoadModelFromString(xml, error.data(), error.size());
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ASSERT_THAT(model, IsNull());
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EXPECT_THAT(error.data(), HasSubstr("nuser_geom"));
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}
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TEST_F(UserDataTest, InvalidNUserSite) {
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static constexpr char xml[] = R"(
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<mujoco>
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<size nuser_site="-2"/>
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</mujoco>
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)";
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std::array<char, 1024> error;
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mjModel* model = LoadModelFromString(xml, error.data(), error.size());
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ASSERT_THAT(model, IsNull());
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EXPECT_THAT(error.data(), HasSubstr("nuser_site"));
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}
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TEST_F(UserDataTest, InvalidNUserCamera) {
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static constexpr char xml[] = R"(
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<mujoco>
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<size nuser_cam="-2"/>
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</mujoco>
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)";
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std::array<char, 1024> error;
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mjModel* model = LoadModelFromString(xml, error.data(), error.size());
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ASSERT_THAT(model, IsNull());
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EXPECT_THAT(error.data(), HasSubstr("nuser_cam"));
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}
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TEST_F(UserDataTest, InvalidNUserTendon) {
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static constexpr char xml[] = R"(
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<mujoco>
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<size nuser_tendon="-2"/>
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</mujoco>
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)";
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std::array<char, 1024> error;
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mjModel* model = LoadModelFromString(xml, error.data(), error.size());
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ASSERT_THAT(model, IsNull());
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EXPECT_THAT(error.data(), HasSubstr("nuser_tendon"));
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}
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TEST_F(UserDataTest, InvalidNUserActuator) {
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static constexpr char xml[] = R"(
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<mujoco>
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<size nuser_actuator="-2"/>
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</mujoco>
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)";
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std::array<char, 1024> error;
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mjModel* model = LoadModelFromString(xml, error.data(), error.size());
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ASSERT_THAT(model, IsNull());
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EXPECT_THAT(error.data(), HasSubstr("nuser_actuator"));
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}
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TEST_F(UserDataTest, InvalidNUserSensor) {
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static constexpr char xml[] = R"(
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<mujoco>
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<size nuser_sensor="-2"/>
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</mujoco>
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)";
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std::array<char, 1024> error;
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mjModel* model = LoadModelFromString(xml, error.data(), error.size());
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ASSERT_THAT(model, IsNull());
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EXPECT_THAT(error.data(), HasSubstr("nuser_sensor"));
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}
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TEST_F(UserDataTest, InvalidArrayElement) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body>
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<geom size="1" axisangle="1.0 0.0 0.0 [[1]]"/>
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</body>
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</worldbody>
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</mujoco>
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)";
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std::array<char, 1024> error;
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mjModel* model = LoadModelFromString(xml, error.data(), error.size());
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ASSERT_THAT(model, IsNull());
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EXPECT_THAT(error.data(), HasSubstr("problem reading attribute 'axisangle'"));
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}
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TEST_F(UserDataTest, InvalidArrayLength) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body>
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<geom size="1" axisangle="1 0 0 0 asd"/>
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</body>
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</worldbody>
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</mujoco>
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)";
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std::array<char, 1024> error;
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mjModel* model = LoadModelFromString(xml, error.data(), error.size());
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ASSERT_THAT(model, IsNull());
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EXPECT_THAT(error.data(), HasSubstr("has too much data"));
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}
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TEST_F(UserDataTest, InvalidNumber) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body>
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<geom size="1" axisangle="1 0.1.2.3"/>
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</body>
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</worldbody>
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</mujoco>
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)";
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std::array<char, 1024> error;
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mjModel* model = LoadModelFromString(xml, error.data(), error.size());
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ASSERT_THAT(model, IsNull());
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EXPECT_THAT(error.data(), HasSubstr("problem reading attribute"));
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}
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TEST_F(UserDataTest, AllowsSpaces) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body>
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<geom size="1" axisangle="1 0 0 0 "/>
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</body>
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</worldbody>
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</mujoco>
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)";
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std::array<char, 1024> error;
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mjModel* model = LoadModelFromString(xml, error.data(), error.size());
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ASSERT_THAT(model, Not(IsNull()));
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mj_deleteModel(model);
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}
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TEST_F(UserDataTest, InvalidDoubleOrientation) {
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std::string prefix = "<mujoco><worldbody><";
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std::string suffix = "/></worldbody></mujoco>";
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std::vector<std::string> orientations = {
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R"( quat="0 1 0 0" )",
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R"( euler="1.7 2.9 0.1" )",
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R"( zaxis="1.7 2.9 0.1" )",
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R"( axisangle="1.7 2.9 0.1 0" )",
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R"( xyaxes="1.7 2.9 0.1 0.4 1.4 0.6" )",
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};
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std::vector<std::string> fields = {
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"geom", "body", "camera", "site"
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};
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for (auto const& field : fields) {
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for (auto const& orient1 : orientations) {
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for (auto const& orient2 : orientations) {
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if (orient1 == orient2) continue;
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std::string xml = prefix + field + orient1 + orient2 + suffix;
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std::array<char, 1024> error;
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mjModel* model = LoadModelFromString(xml.c_str(), error.data(), error.size());
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ASSERT_THAT(model, IsNull());
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EXPECT_THAT(error.data(), HasSubstr("multiple orientation specifiers for the same field"));
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}
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}
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}
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}
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TEST_F(UserDataTest, InvalidInertialOrientation) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body>
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<inertial pos="0 0 0" mass="1" quat="1 0 0 0" fullinertia="1 1 1 0 0 0"/>
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</body>
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</worldbody>
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</mujoco>
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)";
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std::array<char, 1024> error;
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mjModel* model = LoadModelFromString(xml, error.data(), error.size());
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ASSERT_THAT(model, IsNull());
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EXPECT_THAT(error.data(), HasSubstr("multiple orientation specifiers for the same field"));
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}
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// ------------- test relative frame sensor parsing ----------------------------
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using RelativeFrameSensorParsingTest = MujocoTest;
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TEST_F(RelativeFrameSensorParsingTest, RefNameButNoType) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<site name="reference"/>
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<body name="sensorized"/>
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</worldbody>
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<sensor>
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<framepos objname="sensorized" objtype="body" refname="reference"/>
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</sensor>
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</mujoco>
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)";
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std::array<char, 1024> error;
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LoadModelFromString(xml, error.data(), error.size());
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EXPECT_THAT(error.data(), HasSubstr("but reftype is missing"));
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}
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TEST_F(RelativeFrameSensorParsingTest, RefTypeButNoName) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<site name="reference"/>
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<body name="sensorized"/>
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</worldbody>
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<sensor>
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<framepos objname="sensorized" objtype="body" reftype="site"/>
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</sensor>
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</mujoco>
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)";
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std::array<char, 1024> error;
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LoadModelFromString(xml, error.data(), error.size());
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EXPECT_THAT(error.data(), HasSubstr("attribute missing: 'refname'"));
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}
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// ------------- test actlimited parsing ---------------------------------------
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using ActuatorTest = MujocoTest;
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TEST_F(ActuatorTest, InvalidActlimited) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body>
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<joint name="hinge"/>
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<geom size="1"/>
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</body>
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</worldbody>
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<actuator>
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<motor joint="hinge" actlimited="invalid" actrange="-1 1"/>
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</actuator>
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</mujoco>
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)";
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std::array<char, 1024> error;
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mjModel* model = LoadModelFromString(xml, error.data(), error.size());
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ASSERT_THAT(model, IsNull());
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EXPECT_THAT(error.data(), HasSubstr("unrecognized attribute"));
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}
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TEST_F(ActuatorTest, IncompleteActlimited) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body>
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<joint name="hinge"/>
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<geom size="1"/>
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</body>
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</worldbody>
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<actuator>
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<general joint="hinge" actlimited="true" dyntype="filter" actrange="-1"/>
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</actuator>
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</mujoco>
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)";
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std::array<char, 1024> error;
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mjModel* model = LoadModelFromString(xml, error.data(), error.size());
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ASSERT_THAT(model, IsNull());
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EXPECT_THAT(error.data(), HasSubstr("attribute 'actrange' does not have enough data"));
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}
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TEST_F(ActuatorTest, ReadsByte) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body>
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<joint name="hinge"/>
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<geom size="1"/>
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</body>
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</worldbody>
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<actuator>
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<general joint="hinge" dyntype="filter" actlimited="true" actrange="-1 1"/>
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</actuator>
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</mujoco>
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)";
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std::array<char, 1024> error;
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mjModel* model = LoadModelFromString(xml, error.data(), error.size());
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ASSERT_THAT(model, Not(IsNull()));
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EXPECT_EQ(*(model->actuator_actlimited), (mjtByte)(1 & 0xFF));
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mj_deleteModel(model);
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}
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} // namespace
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} // namespace mujoco
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