DeepMind
703b33c064
Fixes #566 PiperOrigin-RevId: 500750288 Change-Id: I00f94ee37bb2f15be59df3933d0d4dba583f0921
122 lines
3.3 KiB
C++
122 lines
3.3 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_api.cc.
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#include <cstddef>
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#include <cstring>
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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 "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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// ---------------------------- test capsule --------------------------------
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TEST_F(MujocoTest, ReadsCapsule) {
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static constexpr char urdf[] = R"(
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<robot name="">
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<link name="torso">
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<collision>
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<origin rpy="-1.57080 0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
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<geometry>
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<capsule length="0.14000" radius="0.07000"/>
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</geometry>
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</collision>
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</link>
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</robot>
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)";
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std::array<char, 1000> error;
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mjModel* model = LoadModelFromString(urdf, 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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}
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TEST_F(MujocoTest, ReadsGeomNamesWithCompilerOption) {
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static constexpr char urdf[] = R"(
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<robot name="">
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<mujoco>
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<compiler geomnamesfromurdf="true" discardvisual="false"/>
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</mujoco>
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<link name="torso">
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<collision name="collision_box">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.1 0.2 0.3"/>
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</geometry>
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</collision>
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<visual name="visual_sphere">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<sphere radius="0.5"/>
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</geometry>
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</visual>
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</link>
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</robot>
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)";
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std::array<char, 1000> error;
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mjModel* model = LoadModelFromString(urdf, error.data(), error.size());
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ASSERT_THAT(model, NotNull()) << error.data();
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// Check the geoms have been loaded with the right names
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int collision_box_id = mj_name2id(model, mjtObj::mjOBJ_GEOM, "collision_box");
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ASSERT_GE(collision_box_id, 0);
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EXPECT_EQ(model->geom_type[collision_box_id], mjtGeom::mjGEOM_BOX);
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int visual_sphere_id = mj_name2id(model, mjtObj::mjOBJ_GEOM, "visual_sphere");
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ASSERT_GE(visual_sphere_id, 0);
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EXPECT_EQ(model->geom_type[visual_sphere_id], mjtGeom::mjGEOM_SPHERE);
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mj_deleteModel(model);
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}
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TEST_F(MujocoTest, CanLoadUrdfWithNonUniqueNamesByDefault) {
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static constexpr char urdf[] = R"(
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<robot name="">
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<mujoco>
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<compiler discardvisual="false"/>
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</mujoco>
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<link name="torso">
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<collision name="shared_name">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.1 0.2 0.3"/>
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</geometry>
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</collision>
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<visual name="shared_name">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<sphere radius="0.5"/>
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</geometry>
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</visual>
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</link>
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</robot>
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)";
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std::array<char, 1000> error;
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mjModel* model = LoadModelFromString(urdf, 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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}
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} // namespace
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} // namespace mujoco
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