Sam Haves
eddfbcfc50
Since the mjz format is just an archive for MJCF assets this seems like a sensible place. The upcoming mjz encoder will also need to make use of the full precision XML utility that is local to src/xml. PiperOrigin-RevId: 912044746 Change-Id: I6a9fef24b1c3fec5b5edc3a8d4c8e22584273264
61 lines
1.7 KiB
C++
61 lines
1.7 KiB
C++
// Copyright 2026 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 <string>
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <mujoco/mjspec.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 MjzTest = MujocoTest;
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using ::testing::IsNull;
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using ::testing::Not;
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using ::testing::NotNull;
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using ::testing::StrEq;
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TEST_F(MjzTest, Parse) {
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mjVFS vfs;
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mj_defaultVFS(&vfs);
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std::string filepath = GetTestDataFilePath("testdata/model.mjz");
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char err[1000] = "";
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mjSpec* spec = mj_parse(filepath.c_str(), "", &vfs, err, sizeof(err));
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EXPECT_THAT(spec, NotNull());
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EXPECT_THAT(err, StrEq(""));
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mjModel* model = mj_compile(spec, &vfs);
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EXPECT_THAT(model, NotNull()) << mjs_getError(spec);
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mj_deleteModel(model);
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mj_deleteSpec(spec);
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mj_deleteVFS(&vfs);
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}
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TEST_F(MjzTest, InvalidPath) {
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mjVFS vfs;
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mj_defaultVFS(&vfs);
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std::string filepath = GetTestDataFilePath("testdata/not_a_file.mjz");
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char err[1000] = "";
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mjSpec* spec = mj_parse(filepath.c_str(), "", nullptr, err, sizeof(err));
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EXPECT_THAT(spec, IsNull());
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EXPECT_THAT(err, Not(StrEq("")));
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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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