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mujoco / data /test /user /user_api_test.cc
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introvoyz041
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 // 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 user/user_api.cc.
#include <array>
#include <cstddef>
#include <cstdint>
#include <filesystem>
#include <functional>
#include <map>
#include <memory>
#include <string>
#include <vector>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <absl/strings/match.h>
#include "src/cc/array_safety.h"
#include <mujoco/mujoco.h>
#include <mujoco/mjspec.h>
#include "src/xml/xml_api.h"
#include "src/xml/xml_numeric_format.h"
#include "test/fixture.h"
namespace mujoco {
namespace {
using ::testing::HasSubstr;
using ::testing::NotNull;
using ::testing::IsNull;
// -------------------------- test model manipulation -------------------------
TEST_F(MujocoTest, GetSetData) {
mjSpec* spec = mj_makeSpec();
mjsBody* world = mjs_findBody(spec, "world");
mjsBody* body = mjs_addBody(world, 0);
mjsSite* site = mjs_addSite(body, 0);
{
double vec[10] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
const char* str = "sitename";
mjs_setName(site->element, str);
mjs_setDouble(site->userdata, vec, 10);
}
EXPECT_THAT(mjs_getName(site->element)->c_str(), HasSubstr("sitename"));
int nsize;
const double* vec = mjs_getDouble(site->userdata, &nsize);
for (int i = 0; i < nsize; ++i) {
EXPECT_EQ(vec[i], i);
}
mj_deleteSpec(spec);
}
TEST_F(MujocoTest, TreeTraversal) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body name="body1">
<site name="site1"/>
<body name="body2">
<site name="site4"/>
</body>
<geom name="geom1" size="1"/>
<geom name="geom2" size="1"/>
<site name="site2"/>
<site name="site3"/>
<geom name="geom3" size="1"/>
</body>
<body name="body3">
<site name="site5"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1000> err;
mjSpec* spec = mj_parseXMLString(xml, 0, err.data(), err.size());
ASSERT_THAT(spec, NotNull()) << err.data();
mjsBody* world = mjs_findBody(spec, "world");
mjsBody* body1 = mjs_findBody(spec, "body1");
mjsBody* body2 = mjs_findBody(spec, "body2");
mjsBody* body3 = mjs_findBody(spec, "body3");
mjsElement* b1 = body1->element;
mjsElement* b2 = body2->element;
mjsElement* b3 = body3->element;
mjsElement* site1 = mjs_findElement(spec, mjOBJ_SITE, "site1");
mjsElement* site2 = mjs_findElement(spec, mjOBJ_SITE, "site2");
mjsElement* site3 = mjs_findElement(spec, mjOBJ_SITE, "site3");
mjsElement* site4 = mjs_findElement(spec, mjOBJ_SITE, "site4");
mjsElement* site5 = mjs_findElement(spec, mjOBJ_SITE, "site5");
mjsElement* geom1 = mjs_findElement(spec, mjOBJ_GEOM, "geom1");
mjsElement* geom2 = mjs_findElement(spec, mjOBJ_GEOM, "geom2");
mjsElement* geom3 = mjs_findElement(spec, mjOBJ_GEOM, "geom3");
// test nonexistent
EXPECT_EQ(mjs_firstElement(spec, mjOBJ_ACTUATOR), nullptr);
EXPECT_EQ(mjs_firstElement(spec, mjOBJ_LIGHT), nullptr);
EXPECT_EQ(mjs_firstChild(body1, mjOBJ_CAMERA, /*recurse=*/true), nullptr);
EXPECT_EQ(mjs_firstChild(body1, mjOBJ_TENDON, /*recurse=*/true), nullptr);
// test first, nonrecursive
EXPECT_EQ(mjs_firstElement(spec, mjOBJ_BODY), world->element);
EXPECT_EQ(site1, mjs_firstElement(spec, mjOBJ_SITE));
EXPECT_EQ(site1, mjs_firstChild(body1, mjOBJ_SITE, /*recurse=*/false));
EXPECT_EQ(geom1, mjs_firstChild(body1, mjOBJ_GEOM, /*recurse=*/false));
EXPECT_EQ(site4, mjs_firstChild(body2, mjOBJ_SITE, /*recurse=*/false));
EXPECT_EQ(site5, mjs_firstChild(body3, mjOBJ_SITE, /*recurse=*/false));
// test first, recursive
EXPECT_EQ(site1, mjs_firstChild(world, mjOBJ_SITE, /*recurse=*/true));
EXPECT_EQ(geom1, mjs_firstChild(world, mjOBJ_GEOM, /*recurse=*/true));
EXPECT_EQ(site4, mjs_firstChild(body2, mjOBJ_SITE, /*recurse=*/true));
EXPECT_EQ(site5, mjs_firstChild(body3, mjOBJ_SITE, /*recurse=*/true));
// text next, nonrecursive
EXPECT_EQ(site2, mjs_nextChild(body1, site1, /*recursive=*/false));
EXPECT_EQ(site3, mjs_nextChild(body1, site2, /*recursive=*/false));
EXPECT_EQ(nullptr, mjs_nextChild(body1, site3, /*recursive=*/false));
EXPECT_EQ(geom2, mjs_nextChild(body1, geom1, /*recursive=*/false));
EXPECT_EQ(geom3, mjs_nextChild(body1, geom2, /*recursive=*/false));
EXPECT_EQ(nullptr, mjs_nextChild(body1, geom3, /*recursive=*/false));
EXPECT_EQ(mjs_nextElement(spec, site1), site2);
EXPECT_EQ(mjs_nextElement(spec, site2), site3);
EXPECT_EQ(mjs_nextElement(spec, site3), site4);
EXPECT_EQ(mjs_nextElement(spec, site4), site5);
EXPECT_EQ(mjs_nextElement(spec, site5), nullptr);
EXPECT_EQ(mjs_nextElement(spec, geom1), geom2);
EXPECT_EQ(mjs_nextElement(spec, geom2), geom3);
EXPECT_EQ(mjs_nextElement(spec, geom3), nullptr);
// text next, recursive
EXPECT_EQ(b2, mjs_nextChild(world, b1, /*recursive=*/true));
EXPECT_EQ(b3, mjs_nextChild(world, b2, /*recursive=*/true));
EXPECT_EQ(site2, mjs_nextChild(body1, site1, /*recursive=*/true));
EXPECT_EQ(site3, mjs_nextChild(body1, site2, /*recursive=*/true));
EXPECT_EQ(site4, mjs_nextChild(body1, site3, /*recursive=*/true));
EXPECT_EQ(site4, mjs_nextChild(world, site3, /*recursive=*/true));
EXPECT_EQ(site5, mjs_nextChild(world, site4, /*recursive=*/true));
EXPECT_EQ(nullptr, mjs_nextChild(body1, site5, /*recursive=*/true));
EXPECT_EQ(geom2, mjs_nextChild(body1, geom1, /*recursive=*/true));
EXPECT_EQ(geom3, mjs_nextChild(body1, geom2, /*recursive=*/true));
EXPECT_EQ(nullptr, mjs_nextChild(body1, geom3, /*recursive=*/true));
// check compilation ordering of sites
mjModel* model = mj_compile(spec, nullptr);
EXPECT_THAT(model, NotNull());
EXPECT_EQ(mjs_getId(site1), 0);
EXPECT_EQ(mjs_getId(site2), 1);
EXPECT_EQ(mjs_getId(site3), 2);
EXPECT_EQ(mjs_getId(site4), 3);
EXPECT_EQ(mjs_getId(site5), 4);
mj_deleteModel(model);
mj_deleteSpec(spec);
}
TEST_F(PluginTest, ActivatePlugin) {
mjSpec* spec = mj_makeSpec();
mjs_activatePlugin(spec, "mujoco.elasticity.cable");
// associate plugin to body
mjsBody* body = mjs_addBody(mjs_findBody(spec, "world"), 0);
mjs_setString(body->plugin.plugin_name, "mujoco.elasticity.cable");
body->plugin.element = mjs_addPlugin(spec)->element;
body->plugin.active = true;
mjsGeom* geom = mjs_addGeom(body, 0);
geom->type = mjGEOM_BOX;
geom->size[0] = 1;
geom->size[1] = 1;
geom->size[2] = 1;
// compile and check that the plugin is present
mjModel* model = mj_compile(spec, NULL);
EXPECT_THAT(model, NotNull());
EXPECT_THAT(model->nplugin, 1);
EXPECT_THAT(model->body_plugin[1], 0);
mj_deleteSpec(spec);
mj_deleteModel(model);
}
TEST_F(PluginTest, DeletePlugin) {
mjSpec* spec = mj_makeSpec();
mjs_activatePlugin(spec, "mujoco.pid");
// create body
mjsBody* body = mjs_addBody(mjs_findBody(spec, "world"), 0);
mjsJoint* joint = mjs_addJoint(body, 0);
mjsGeom* geom = mjs_addGeom(body, 0);
mjs_setName(joint->element, "j1");
joint->type = mjJNT_SLIDE;
geom->size[0] = 1;
// add actuator
mjsActuator* actuator = mjs_addActuator(spec, 0);
mjs_setString(actuator->target, "j1");
mjs_setString(actuator->plugin.plugin_name, "mujoco.pid");
actuator->plugin.element = mjs_addPlugin(spec)->element;
actuator->plugin.active = true;
actuator->trntype = mjTRN_JOINT;
// compile and check that the plugin is present
mjModel* model = mj_compile(spec, NULL);
EXPECT_THAT(model, NotNull());
EXPECT_THAT(model->nu, 1);
EXPECT_THAT(model->nplugin, 1);
EXPECT_THAT(model->actuator_plugin[0], 0);
// delete actuator
mjs_delete(spec, actuator->element);
// recompile and check that the plugin is not present
mjModel* newmodel = mj_compile(spec, NULL);
EXPECT_THAT(newmodel, NotNull());
EXPECT_THAT(newmodel->nu, 0);
EXPECT_THAT(newmodel->nplugin, 0);
mj_deleteSpec(spec);
mj_deleteModel(model);
mj_deleteModel(newmodel);
}
static constexpr char xml_plugin_1[] = R"(
<mujoco model="MuJoCo Model">
<worldbody>
<body name="body"/>
</worldbody>
</mujoco>)";
static constexpr char xml_plugin_2[] = R"(
<mujoco model="MuJoCo Model">
<extension>
<plugin plugin="mujoco.pid">
<instance name="actuator-1">
<config key="ki" value="4.0"/>
<config key="slewmax" value="3.14159"/>
</instance>
</plugin>
</extension>
<worldbody>
<body name="empty"/>
<body name="body">
<joint name="joint"/>
<geom size="0.1"/>
</body>
</worldbody>
<actuator>
<plugin name="actuator-1" plugin="mujoco.pid" instance="actuator-1"
joint="joint" actdim="2"/>
</actuator>
</mujoco>)";
TEST_F(PluginTest, AttachPlugin) {
std::array<char, 1000> err;
mjSpec* parent = mj_parseXMLString(xml_plugin_1, 0, err.data(), err.size());
ASSERT_THAT(parent, NotNull()) << err.data();
mjSpec* spec_1 = mj_parseXMLString(xml_plugin_2, 0, err.data(), err.size());
ASSERT_THAT(spec_1, NotNull()) << err.data();
// do a copy before attaching
mjSpec* spec_2 = mj_copySpec(spec_1);
mjs_setString(spec_2->modelname, "first_copy");
mjSpec* spec_3 = mj_copySpec(spec_1);
mjs_setString(spec_3->modelname, "second_copy");
ASSERT_THAT(spec_3, NotNull()) << err.data();
// attach a body referencing the plugin to the frame and compile
mjsBody* body_1 = mjs_findBody(parent, "body");
EXPECT_THAT(body_1, NotNull());
mjsFrame* attachment_frame = mjs_addFrame(body_1, 0);
EXPECT_THAT(attachment_frame, NotNull());
mjs_attach(attachment_frame->element, mjs_findBody(spec_1, "body")->element,
"child-", "");
mjModel* model_1 = mj_compile(parent, nullptr);
EXPECT_THAT(model_1, NotNull());
EXPECT_THAT(model_1->nbody, 3);
// attach it a second time to test namespacing and compile
ASSERT_THAT(spec_2, NotNull()) << err.data();
mjs_attach(attachment_frame->element, mjs_findBody(spec_2, "body")->element,
"copy-", "");
mjModel* model_2 = mj_compile(parent, nullptr);
EXPECT_THAT(model_2, NotNull());
EXPECT_THAT(model_2->nbody, 4);
// attach a body not referencing the plugin and compile
mjs_attach(attachment_frame->element, mjs_findBody(spec_3, "empty")->element,
"empty-", "");
mjModel* model_3 = mj_compile(parent, nullptr);
EXPECT_THAT(model_3, NotNull());
EXPECT_THAT(model_3->nbody, 5);
mj_deleteModel(model_1);
mj_deleteModel(model_2);
mj_deleteModel(model_3);
mj_deleteSpec(parent);
mj_deleteSpec(spec_1);
mj_deleteSpec(spec_2);
mj_deleteSpec(spec_3);
}
TEST_F(PluginTest, DetachPlugin) {
std::array<char, 1000> err;
mjSpec* parent = mj_parseXMLString(xml_plugin_1, 0, err.data(), err.size());
ASSERT_THAT(parent, NotNull()) << err.data();
mjSpec* child = mj_parseXMLString(xml_plugin_2, 0, err.data(), err.size());
ASSERT_THAT(child, NotNull()) << err.data();
// attach a body referencing the plugin to the frame
mjsElement* frame = mjs_addFrame(mjs_findBody(parent, "world"), 0)->element;
mjsElement* body = mjs_findBody(child, "body")->element;
EXPECT_THAT(mjs_attach(frame, body, "child-", ""), NotNull());
// detach the body and compile
mjsBody* body_to_detach = mjs_findBody(parent, "child-body");
EXPECT_THAT(body_to_detach, NotNull());
EXPECT_THAT(mjs_delete(parent, body_to_detach->element), 0);
mjModel* model = mj_compile(parent, nullptr);
EXPECT_THAT(model, NotNull());
EXPECT_THAT(model->nbody, 2);
EXPECT_THAT(model->nplugin, 0);
mj_deleteModel(model);
mj_deleteSpec(parent);
mj_deleteSpec(child);
}
TEST_F(PluginTest, AttachExplicitPlugin) {
static constexpr char xml_parent[] = R"(
<mujoco model="MuJoCo Model">
<worldbody>
<body name="body"/>
</worldbody>
</mujoco>)";
std::array<char, 1000> err;
mjSpec* parent = mj_parseXMLString(xml_parent, 0, err.data(), err.size());
ASSERT_THAT(parent, NotNull()) << err.data();
mjSpec* child = mj_makeSpec();
mjsBody* body = mjs_addBody(mjs_findBody(child, "world"), 0);
mjsGeom* geom = mjs_addGeom(body, 0);
mjsSite* site = mjs_addSite(body, 0);
mjsSensor* sensor = mjs_addSensor(child);
mjsPlugin* plugin = mjs_addPlugin(child);
mjs_activatePlugin(child, "mujoco.sensor.touch_grid");
mjs_setString(plugin->plugin_name, "mujoco.sensor.touch_grid");
mjs_setString(sensor->plugin.plugin_name, "mujoco.sensor.touch_grid");
mjs_setName(body->element, "body");
mjs_setName(sensor->element, "touch2");
mjs_setString(sensor->objname, "touch2");
mjs_setName(site->element, "touch2");
geom->size[0] = 0.1;
site->size[0] = 0.001;
sensor->type = mjSENS_PLUGIN;
sensor->objtype = mjOBJ_SITE;
sensor->plugin.element = plugin->element;
sensor->plugin.active = true;
std::map<std::string, std::string, std::less<> > config_attribs;
config_attribs["size"] = "8 12";
config_attribs["fov"] = "10 13";
config_attribs["gamma"] = "0";
config_attribs["nchannel"] = "1";
mjs_setPluginAttributes(plugin, &config_attribs);
mjsBody* body_parent = mjs_findBody(parent, "body");
EXPECT_THAT(body_parent, NotNull());
mjsFrame* attachment_frame = mjs_addFrame(body_parent, 0);
EXPECT_THAT(attachment_frame, NotNull());
mjs_attach(attachment_frame->element, mjs_findBody(child, "body")->element,
"child-", "");
mjModel* model = mj_compile(parent, nullptr);
EXPECT_THAT(model, NotNull());
EXPECT_THAT(model->nplugin, 1);
mj_deleteSpec(parent);
mj_deleteSpec(child);
mj_deleteModel(model);
}
TEST_F(PluginTest, ReplicatePlugin) {
static constexpr char xml[] = R"(
<mujoco>
<extension>
<plugin plugin="mujoco.sdf.torus">
<instance name="torus" />
</plugin>
</extension>
<asset>
<mesh name="torus">
<plugin instance="torus" />
</mesh>
</asset>
<worldbody>
<geom type="sdf" mesh="torus">
<plugin instance="torus" />
</geom>
<replicate count="100">
<body />
</replicate>
</worldbody>
</mujoco>)";
std::array<char, 1000> err;
mjSpec* spec = mj_parseXMLString(xml, 0, err.data(), err.size());
ASSERT_THAT(spec, NotNull()) << err.data();
mjModel* model = mj_compile(spec, nullptr);
EXPECT_THAT(model, NotNull());
EXPECT_THAT(model->nplugin, 1);
mj_deleteSpec(spec);
mj_deleteModel(model);
}
TEST_F(PluginTest, ReplicateExplicitPlugin) {
static constexpr char xml[] = R"(
<mujoco>
<extension>
<plugin plugin="mujoco.sensor.touch_grid"/>
</extension>
<worldbody>
<body name="tactile_sensor_2">
<replicate count="2" offset="0 0.1 0">
<geom type="sphere" size=".0008" />
</replicate>
<site name="touch2" size="0.001"/>
</body>
</worldbody>
<sensor>
<plugin name="touch2" plugin="mujoco.sensor.touch_grid" objtype="site" objname="touch2">
<config key="size" value="8 12"/>
<config key="fov" value="10 13"/>
<config key="gamma" value="0"/>
<config key="nchannel" value="1"/>
</plugin>
</sensor>
</mujoco>)";
std::array<char, 1000> err;
mjSpec* spec = mj_parseXMLString(xml, 0, err.data(), err.size());
ASSERT_THAT(spec, NotNull()) << err.data();
mjModel* model = mj_compile(spec, nullptr);
EXPECT_THAT(model, NotNull());
EXPECT_THAT(model->nplugin, 1);
mj_deleteSpec(spec);
mj_deleteModel(model);
}
TEST_F(MujocoTest, RecompileFails) {
mjSpec* spec = mj_makeSpec();
mjsBody* body = mjs_addBody(mjs_findBody(spec, "world"), 0);
mjsGeom* geom = mjs_addGeom(body, 0);
geom->type = mjGEOM_SPHERE;
geom->size[0] = 1;
mjModel* model = mj_compile(spec, 0);
mjData* data = mj_makeData(model);
mjsMaterial* mat1 = mjs_addMaterial(spec, 0);
mjsMaterial* mat2 = mjs_addMaterial(spec, 0);
mjs_setName(mat1->element, "yellow");
mjs_setName(mat2->element, "yellow");
EXPECT_EQ(mj_recompile(spec, 0, model, data), -1);
EXPECT_STREQ(mjs_getError(spec), "Error: repeated name 'yellow' in material");
mj_deleteSpec(spec);
}
TEST_F(PluginTest, ModifyShellInertiaFails) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="example_mesh"
vertex="0 0 0 1 0 0 0 1 0 1 1 1e-6"
face="0 1 2 2 1 3" inertia="shell"/>
</asset>
<worldbody>
</worldbody>
</mujoco>
)";
std::array<char, 1000> err;
mjSpec* spec = mj_parseXMLString(xml, 0, err.data(), err.size());
ASSERT_THAT(spec, NotNull()) << err.data();
// add a geom to spec
mjsGeom* geom = mjs_addGeom(mjs_findBody(spec, "world"), nullptr);
geom->type = mjGEOM_MESH;
mjs_setString(geom->meshname, "example_mesh");
geom->typeinertia = mjINERTIA_SHELL;
mjModel* model = mj_compile(spec, nullptr);
EXPECT_THAT(model, IsNull());
EXPECT_THAT(mjs_getError(spec),
HasSubstr("inertia should be specified in the mesh asset"));
mj_deleteSpec(spec);
mj_deleteModel(model);
}
// ------------------- test recompilation multiple files -----------------------
TEST_F(PluginTest, RecompileCompare) {
mjtNum tol = 0;
std::string field = "";
// full precision float printing
FullFloatPrecision increase_precision;
// loop over all xml files in data
std::vector<std::string> paths = {GetTestDataFilePath("."),
GetModelPath(".")};
std::string ext(".xml");
for (auto const& path : paths) {
for (auto &p : std::filesystem::recursive_directory_iterator(path)) {
if (p.path().extension() == ext) {
std::string xml = p.path().string();
// if file is meant to fail, skip it
if (absl::StrContains(p.path().string(), "malformed_") ||
absl::StrContains(p.path().string(), "touch_grid") ||
absl::StrContains(p.path().string(), "cow")) {
continue;
}
// load spec
std::array<char, 1000> err;
mjSpec* s = mj_parseXML(xml.c_str(), 0, err.data(), err.size());
ASSERT_THAT(s, NotNull())
<< "Failed to load " << xml << ": " << err.data();
// copy spec
mjSpec* s_copy = mj_copySpec(s);
// compare signature
EXPECT_EQ(s->element->signature, s_copy->element->signature) << xml;
// compile twice and compare
mjModel* m_old = mj_compile(s, nullptr);
ASSERT_THAT(m_old, NotNull())
<< "Failed to compile " << xml << ": " << mjs_getError(s);
mjModel* m_new = mj_compile(s, nullptr);
mjModel* m_copy = mj_compile(s_copy, nullptr);
// compare signature
EXPECT_EQ(m_old->signature, m_new->signature) << xml;
EXPECT_EQ(m_old->signature, m_copy->signature) << xml;
ASSERT_THAT(m_new, NotNull())
<< "Failed to recompile " << xml << ": " << mjs_getError(s);
ASSERT_THAT(m_copy, NotNull())
<< "Failed to compile " << xml << ": " << mjs_getError(s_copy);
EXPECT_LE(CompareModel(m_old, m_new, field), tol)
<< "Compiled and recompiled models are different!\n"
<< "Affected file " << p.path().string() << '\n'
<< "Different field: " << field << '\n';
EXPECT_LE(CompareModel(m_old, m_copy, field), tol)
<< "Original and copied models are different!\n"
<< "Affected file " << p.path().string() << '\n'
<< "Different field: " << field << '\n';
// copy to a new spec, compile and compare
mjSpec* s_copy2 = mj_copySpec(s);
mjModel* m_copy2 = mj_compile(s_copy2, nullptr);
ASSERT_THAT(m_copy2, NotNull())
<< "Failed to compile " << xml << ": " << mjs_getError(s_copy2);
EXPECT_LE(CompareModel(m_old, m_copy2, field), tol)
<< "Original and re-copied models are different!\n"
<< "Affected file " << p.path().string() << '\n'
<< "Different field: " << field << '\n';
// delete models
mj_deleteSpec(s);
mj_deleteSpec(s_copy);
mj_deleteSpec(s_copy2);
mj_deleteModel(m_old);
mj_deleteModel(m_new);
mj_deleteModel(m_copy);
mj_deleteModel(m_copy2);
}
}
}
}
TEST_F(PluginTest, RecompileEdit) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<freejoint/>
<geom size=".1"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1000> er;
mjSpec *spec = mj_parseXMLString(xml, 0, er.data(), er.size());
EXPECT_THAT(spec, NotNull()) << er.data();
mjModel *m1 = mj_compile(spec, nullptr);
EXPECT_THAT(m1, NotNull());
// add a geom
mjsBody *world = mjs_findBody(spec, "world");
mjsGeom *geom = mjs_addGeom(world, nullptr);
geom->size[0] = 1;
// compile again
mjModel *m2 = mj_compile(spec, nullptr);
EXPECT_THAT(m2, NotNull());
mj_deleteModel(m1);
mj_deleteModel(m2);
mj_deleteSpec(spec);
}
// ------------------- test cache with modified assets -------------------------
TEST_F(PluginTest, RecompileCompareObjCache) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh file="cube.obj"/>
</asset>
<worldbody>
<geom type="mesh" mesh="cube"/>
</worldbody>
</mujoco>)";
static constexpr char cube1[] = R"(
v -0.500000 -0.500000 0.500000
v 0.500000 -0.500000 0.500000
v -0.500000 0.500000 0.500000
v 0.500000 0.500000 0.500000
v -0.500000 0.500000 -0.500000
v 0.500000 0.500000 -0.500000
v -0.500000 -0.500000 -0.500000
v 0.500000 -0.500000 -0.500000)";
static constexpr char cube2[] = R"(
v -1 -1 1
v 1 -1 1
v -1 1 1
v 1 1 1
v -1 1 -1
v 1 1 -1
v -1 -1 -1
v 1 -1 -1)";
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
mj_addBufferVFS(vfs.get(), "cube.obj", cube1, sizeof(cube1));
std::array<char, 1024> error;
// load model once
mjModel* m = LoadModelFromString(xml, error.data(), error.size(), vfs.get());
EXPECT_EQ(m->mesh_vert[0], -0.5);
mj_deleteModel(m);
// update cube.obj, load again
mj_deleteFileVFS(vfs.get(), "cube.obj");
mj_addBufferVFS(vfs.get(), "cube.obj", cube2, sizeof(cube2));
m = LoadModelFromString(xml, error.data(), error.size(), vfs.get());
EXPECT_EQ(m->mesh_vert[0], -1);
mj_deleteModel(m);
mj_deleteVFS(vfs.get());
}
// tiny RGB 2 x 3 PNG file
static constexpr uint8_t tex1[] = {
0x89, 0x50, 0x4e, 0x47, 0x0d, 0x0a, 0x1a, 0x0a, 0x00, 0x00, 0x00, 0x0d,
0x49, 0x48, 0x44, 0x52, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x02,
0x08, 0x02, 0x00, 0x00, 0x00, 0x12, 0x16, 0xf1, 0x4d, 0x00, 0x00, 0x00,
0x1c, 0x49, 0x44, 0x41, 0x54, 0x08, 0xd7, 0x63, 0x78, 0xc1, 0xc0, 0xc0,
0xc0, 0xf0, 0xbf, 0xb8, 0xb8, 0x98, 0x81, 0xe1, 0x3f, 0xc3, 0xff, 0xff,
0xff, 0xc5, 0xc4, 0xc4, 0x00, 0x46, 0xd7, 0x07, 0x7f, 0xd2, 0x52, 0xa1,
0x41, 0x00, 0x00, 0x00, 0x00, 0x49, 0x45, 0x4e, 0x44, 0xae, 0x42, 0x60,
0x82
};
// previous PNG file, but rotated by 180 degrees
static constexpr uint8_t tex2[] = {
0x89, 0x50, 0x4e, 0x47, 0x0d, 0x0a, 0x1a, 0x0a, 0x00, 0x00, 0x00, 0x0d,
0x49, 0x48, 0x44, 0x52, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x02,
0x08, 0x02, 0x00, 0x00, 0x00, 0x12, 0x16, 0xf1, 0x4d, 0x00, 0x00, 0x00,
0x1c, 0x49, 0x44, 0x41, 0x54, 0x08, 0xd7, 0x63, 0x10, 0x13, 0x13, 0xfb,
0xff, 0xff, 0x3f, 0xc3, 0x7f, 0x06, 0x96, 0xd8, 0xd8, 0x58, 0x46, 0x46,
0x86, 0x17, 0x0c, 0x0c, 0x00, 0x49, 0x22, 0x06, 0x44, 0xe4, 0x91, 0xb8,
0x83, 0x00, 0x00, 0x00, 0x00, 0x49, 0x45, 0x4e, 0x44, 0xae, 0x42, 0x60,
0x82
};
TEST_F(PluginTest, RecompileComparePngCache) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<texture content_type="image/png" file="tex.png" type="2d"/>
<material name="material" texture="tex"/>
</asset>
<worldbody>
<geom type="plane" material="material" size="4 4 4"/>
</worldbody>
</mujoco>
)";
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
mj_addBufferVFS(vfs.get(), "tex.png", tex1, sizeof(tex1));
std::array<char, 1024> error;
// load model once
mjModel* m = LoadModelFromString(xml, error.data(), error.size(), vfs.get());
EXPECT_EQ(m->ntexdata, 18); // w x h x rgb = 3 x 2 x 3
mjtByte byte = m->tex_data[0];
mj_deleteModel(m);
// update tex.png, load again
mj_deleteFileVFS(vfs.get(), "tex.png");
mj_addBufferVFS(vfs.get(), "tex.png", tex2, sizeof(tex2));
m = LoadModelFromString(xml, error.data(), error.size(), vfs.get());
EXPECT_NE(m->tex_data[0], byte);
EXPECT_EQ(m->tex_data[15], byte); // first pixel is now last pixel
mj_deleteModel(m);
mj_deleteVFS(vfs.get());
}
// -------------------------------- test textures ------------------------------
TEST_F(PluginTest, TextureFromBuffer) {
mjSpec* spec = mj_makeSpec();
mjsTexture* t1 = mjs_addTexture(spec);
mjs_setName(t1->element, "tex1");
t1->type = mjTEXTURE_2D;
t1->width = 3;
t1->height = 2;
t1->nchannel = 3;
mjs_setBuffer(t1->data, (std::byte*)tex1, 18);
mjsTexture* t2 = mjs_addTexture(spec);
mjs_setName(t2->element, "tex2");
t2->type = mjTEXTURE_2D;
t2->width = 3;
t2->height = 2;
t2->nchannel = 3;
mjs_setBuffer(t2->data, (std::byte*)tex2, 18);
mjsMaterial* mat = mjs_addMaterial(spec, nullptr);
mjs_setName(mat->element, "mat");
mjs_setInStringVec(mat->textures, mjTEXROLE_RGB, "tex1");
mjs_setInStringVec(mat->textures, mjTEXROLE_ORM, "tex2");
mjsGeom* geom = mjs_addGeom(mjs_findBody(spec, "world"), nullptr);
mjs_setString(geom->material, "mat");
geom->size[0] = 1;
mjModel* m = mj_compile(spec, nullptr);
EXPECT_THAT(m, NotNull());
EXPECT_EQ(m->ntex, 2);
std::array<char, 1024> err;
std::array<char, 1024> str;
mj_saveXMLString(spec, str.data(), str.size(), err.data(), err.size());
EXPECT_STREQ(err.data(), "XML Error: no support for buffer textures.");
mj_deleteModel(m);
mj_deleteSpec(spec);
}
// -------------------------------- test attach --------------------------------
static constexpr char xml_child[] = R"(
<mujoco model="child">
<default>
<default class="cylinder">
<geom type="cylinder" size=".1 1 0"/>
</default>
</default>
<custom>
<numeric data="10" name="constant"/>
</custom>
<asset>
<texture name="texture" type="2d" builtin="checker" width="32" height="32"/>
<material name="material" texture="texture" texrepeat="1 1" texuniform="true"/>
</asset>
<worldbody>
<frame name="pframe">
<frame name="cframe">
<body name="body">
<joint type="hinge" name="hinge"/>
<geom class="cylinder" material="material"/>
<light mode="targetbody" target="targetbody"/>
<site name="site" material="material"/>
<body name="targetbody"/>
<body/>
</body>
</frame>
</frame>
<body name="ignore">
<geom size=".1"/>
<joint type="slide"/>
</body>
<frame name="frame" pos=".1 0 0" euler="0 90 0"/>
</worldbody>
<sensor>
<framepos name="sensor" objtype="body" objname="body"/>
<framepos name="ignore" objtype="body" objname="ignore"/>
</sensor>
<tendon>
<fixed name="fixed">
<joint joint="hinge" coef="2"/>
</fixed>
</tendon>
<actuator>
<position name="hinge" joint="hinge" timeconst=".01"/>
<position name="fixed" tendon="fixed" timeconst=".01"/>
<position name="site" site="site" timeconst=".01"/>
</actuator>
<contact>
<exclude body1="body" body2="targetbody"/>
</contact>
<keyframe>
<key name="two" time="2" qpos="2 22" act="1 2 3" ctrl="1 2 3"/>
<key name="three" time="3" qpos="3 33" act="4 5 6" ctrl="4 5 6"/>
</keyframe>
</mujoco>)";
TEST_F(MujocoTest, AttachSame) {
std::array<char, 1000> er;
mjtNum tol = 0;
std::string field = "";
static constexpr char xml_result[] = R"(
<mujoco model="child">
<default>
<default class="cylinder">
<geom type="cylinder" size=".1 1 0"/>
</default>
</default>
<custom>
<numeric data="10" name="constant"/>
</custom>
<asset>
<texture name="texture" type="2d" builtin="checker" width="32" height="32"/>
<material name="material" texture="texture" texrepeat="1 1" texuniform="true"/>
</asset>
<worldbody>
<body name="body">
<joint type="hinge" name="hinge"/>
<geom class="cylinder" material="material"/>
<light mode="targetbody" target="targetbody"/>
<site name="site" material="material"/>
<body name="targetbody"/>
<body/>
</body>
<body name="ignore">
<geom size=".1"/>
<joint type="slide"/>
</body>
<frame name="frame" pos=".1 0 0" euler="0 90 0">
<body name="attached-body-1">
<joint type="hinge" name="attached-hinge-1"/>
<geom class="cylinder" material="material"/>
<light mode="targetbody" target="attached-targetbody-1"/>
<site name="attached-site-1" material="material"/>
<body name="attached-targetbody-1"/>
<body/>
</body>
</frame>
</worldbody>
<sensor>
<framepos name="sensor" objtype="body" objname="body"/>
<framepos name="ignore" objtype="body" objname="ignore"/>
<framepos name="attached-sensor-1" objtype="body" objname="attached-body-1"/>
</sensor>
<tendon>
<fixed name="fixed">
<joint joint="hinge" coef="2"/>
</fixed>
<fixed name="attached-fixed-1">
<joint joint="attached-hinge-1" coef="2"/>
</fixed>
</tendon>
<actuator>
<position name="hinge" joint="hinge" timeconst=".01"/>
<position name="fixed" tendon="fixed" timeconst=".01"/>
<position name="site" site="site" timeconst=".01"/>
<position name="attached-hinge-1" joint="attached-hinge-1" timeconst=".01"/>
<position name="attached-fixed-1" tendon="attached-fixed-1" timeconst=".01"/>
<position name="attached-site-1" site="attached-site-1" timeconst=".01"/>
</actuator>
<contact>
<exclude body1="body" body2="targetbody"/>
<exclude body1="attached-body-1" body2="attached-targetbody-1"/>
</contact>
<keyframe>
<key name="two" time="2" qpos="2 22 0" act="1 2 3 0 0 0" ctrl="1 2 3 0 0 0"/>
<key name="three" time="3" qpos="3 33 0" act="4 5 6 0 0 0" ctrl="4 5 6 0 0 0"/>
<key name="attached-two-1" time="2" qpos="0 22 2" act="0 0 0 1 2 3" ctrl="0 0 0 1 2 3"/>
<key name="attached-three-1" time="3" qpos="0 33 3" act="0 0 0 4 5 6" ctrl="0 0 0 4 5 6"/>
</keyframe>
</mujoco>)";
// create parent
mjSpec* parent = mj_parseXMLString(xml_child, 0, er.data(), er.size());
EXPECT_THAT(parent, NotNull()) << er.data();
mjs_setDeepCopy(parent, true); // needed for self-attach
// get frame
mjsFrame* frame = mjs_findFrame(parent, "frame");
EXPECT_THAT(frame, NotNull());
// get subtree
mjsBody* body = mjs_findBody(parent, "body");
EXPECT_THAT(body, NotNull());
// attach child to parent frame
mjsBody* attached =
mjs_asBody(mjs_attach(frame->element, body->element, "attached-", "-1"));
EXPECT_THAT(attached, mjs_findBody(parent, "attached-body-1"));
// check that the spec was not copied
EXPECT_THAT(mjs_findSpec(parent, "child"), IsNull());
// compile new model
mjModel* m_attached = mj_compile(parent, 0);
EXPECT_THAT(m_attached, NotNull());
// check full name stored in mjModel
EXPECT_STREQ(mj_id2name(m_attached, mjOBJ_BODY, 5), "attached-body-1");
// check body 3 is attached to the world
EXPECT_THAT(m_attached->body_parentid[4], 0);
// compare with expected XML
mjModel* m_expected = LoadModelFromString(xml_result, er.data(), er.size());
EXPECT_THAT(m_expected, NotNull()) << er.data();
EXPECT_LE(CompareModel(m_attached, m_expected, field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';;
// destroy everything
mj_deleteSpec(parent);
mj_deleteModel(m_attached);
mj_deleteModel(m_expected);
}
TEST_F(MujocoTest, AttachDifferent) {
std::array<char, 1000> er;
mjtNum tol = 0;
std::string field = "";
static constexpr char xml_parent[] = R"(
<mujoco model="parent">
<default>
<default class="geom_size">
<geom size="0.1"/>
</default>
</default>
<worldbody>
<body name="sphere">
<freejoint/>
<geom class="geom_size"/>
<frame name="frame" pos=".1 0 0" euler="0 90 0"/>
</body>
</worldbody>
<keyframe>
<key name="one" time="1" qpos="1 1 1 1 0 0 0"/>
</keyframe>
</mujoco>)";
static constexpr char xml_result[] = R"(
<mujoco model="parent">
<default>
<default class="geom_size">
<geom size="0.1"/>
</default>
<default class="attached-cylinder-1">
<geom type="cylinder" size=".1 1 0"/>
</default>
</default>
<custom>
<numeric data="10" name="attached-constant-1"/>
</custom>
<asset>
<texture name="attached-texture-1" type="2d" builtin="checker" width="32" height="32"/>
<material name="attached-material-1" texture="attached-texture-1" texrepeat="1 1" texuniform="true"/>
</asset>
<worldbody>
<body name="sphere">
<freejoint/>
<geom class="geom_size"/>
<frame name="frame" pos=".1 0 0" euler="0 90 0">
<body name="attached-body-1">
<joint type="hinge" name="attached-hinge-1"/>
<geom class="attached-cylinder-1" material="attached-material-1"/>
<light mode="targetbody" target="attached-targetbody-1"/>
<site name="attached-site-1" material="attached-material-1"/>
<body name="attached-targetbody-1"/>
<body/>
</body>
</frame>
</body>
</worldbody>
<sensor>
<framepos name="attached-sensor-1" objtype="body" objname="attached-body-1"/>
</sensor>
<tendon>
<fixed name="attached-fixed-1">
<joint joint="attached-hinge-1" coef="2"/>
</fixed>
</tendon>
<actuator>
<position name="attached-hinge-1" joint="attached-hinge-1" timeconst=".01"/>
<position name="attached-fixed-1" tendon="attached-fixed-1" timeconst=".01"/>
<position name="attached-site-1" site="attached-site-1" timeconst=".01"/>
</actuator>
<contact>
<exclude body1="attached-body-1" body2="attached-targetbody-1"/>
</contact>
<keyframe>
<key name="one" time="1" qpos="1 1 1 1 0 0 0 0"/>
<key name="attached-two-1" time="2" qpos="0 0 0 1 0 0 0 2" act="1 2 3" ctrl="1 2 3"/>
<key name="attached-three-1" time="3" qpos="0 0 0 1 0 0 0 3" act="4 5 6" ctrl="4 5 6"/>
</keyframe>
</mujoco>)";
// model with one free sphere and a frame
mjSpec* parent = mj_parseXMLString(xml_parent, 0, er.data(), er.size());
EXPECT_THAT(parent, NotNull()) << er.data();
// get frame
mjsFrame* frame = mjs_findFrame(parent, "frame");
EXPECT_THAT(frame, NotNull());
// model with one cylinder and a hinge
mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
EXPECT_THAT(child, NotNull()) << er.data();
// get subtree
mjsBody* body = mjs_findBody(child, "body");
EXPECT_THAT(body, NotNull());
// attach child to parent frame
mjsBody* attached =
mjs_asBody(mjs_attach(frame->element, body->element, "attached-", "-1"));
EXPECT_THAT(attached, mjs_findBody(parent, "attached-body-1"));
// check that the spec was copied
EXPECT_THAT(mjs_findSpec(parent, "child"), NotNull());
// compile new model
mjModel* m_attached = mj_compile(parent, 0);
EXPECT_THAT(m_attached, NotNull());
// check frame is present
EXPECT_THAT(mjs_findFrame(parent, "frame"), NotNull());
// check full name stored in mjModel
EXPECT_STREQ(mj_id2name(m_attached, mjOBJ_BODY, 2), "attached-body-1");
// check body 2 is attached to body 1
EXPECT_THAT(m_attached->body_parentid[2], 1);
// check that the correct defaults are present
EXPECT_THAT(mjs_findDefault(parent, "main"), NotNull());
EXPECT_THAT(mjs_findDefault(parent, "geom_size"), NotNull());
EXPECT_THAT(mjs_findDefault(parent, "attached-cylinder-1"), NotNull());
// compare with expected XML
mjModel* m_expected = LoadModelFromString(xml_result, er.data(), er.size());
EXPECT_THAT(m_expected, NotNull()) << er.data();
EXPECT_LE(CompareModel(m_attached, m_expected, field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';;
// destroy everything
mj_deleteSpec(parent);
mj_deleteSpec(child);
mj_deleteModel(m_attached);
mj_deleteModel(m_expected);
}
TEST_F(MujocoTest, AttachFrame) {
std::array<char, 1000> er;
mjtNum tol = 0;
std::string field = "";
static constexpr char xml_parent[] = R"(
<mujoco model="parent">
<worldbody>
<body name="sphere">
<freejoint/>
<geom size=".1"/>
<frame name="frame" pos=".1 0 0" euler="0 90 0"/>
</body>
</worldbody>
<keyframe>
<key name="one" time="1" qpos="1 1 1 1 0 0 0"/>
</keyframe>
</mujoco>)";
static constexpr char xml_result[] = R"(
<mujoco model="parent">
<default>
<default class="attached-cylinder-1">
<geom type="cylinder" size=".1 1 0"/>
</default>
</default>
<custom>
<numeric data="10" name="attached-constant-1"/>
</custom>
<asset>
<texture name="attached-texture-1" type="2d" builtin="checker" width="32" height="32"/>
<material name="attached-material-1" texture="attached-texture-1" texrepeat="1 1" texuniform="true"/>
</asset>
<worldbody>
<body name="sphere">
<freejoint/>
<geom size=".1"/>
<frame name="frame" pos=".1 0 0" euler="0 90 0"/>
<frame name="pframe">
<frame name="cframe">
<body name="attached-body-1">
<joint type="hinge" name="attached-hinge-1"/>
<geom class="attached-cylinder-1" material="attached-material-1"/>
<light mode="targetbody" target="attached-targetbody-1"/>
<site name="attached-site-1" material="attached-material-1"/>
<body name="attached-targetbody-1"/>
<body/>
</body>
</frame>
</frame>
</body>
</worldbody>
<sensor>
<framepos name="attached-sensor-1" objtype="body" objname="attached-body-1"/>
</sensor>
<tendon>
<fixed name="attached-fixed-1">
<joint joint="attached-hinge-1" coef="2"/>
</fixed>
</tendon>
<actuator>
<position name="attached-hinge-1" joint="attached-hinge-1" timeconst=".01"/>
<position name="attached-fixed-1" tendon="attached-fixed-1" timeconst=".01"/>
<position name="attached-site-1" site="attached-site-1" timeconst=".01"/>
</actuator>
<contact>
<exclude body1="attached-body-1" body2="attached-targetbody-1"/>
</contact>
<keyframe>
<key name="one" time="1" qpos="1 1 1 1 0 0 0 0"/>
<key name="attached-two-1" time="2" qpos="0 0 0 1 0 0 0 2" act="1 2 3" ctrl="1 2 3"/>
<key name="attached-three-1" time="3" qpos="0 0 0 1 0 0 0 3" act="4 5 6" ctrl="4 5 6"/>
</keyframe>
</mujoco>)";
// model with one free sphere and a frame
mjSpec* parent = mj_parseXMLString(xml_parent, 0, er.data(), er.size());
EXPECT_THAT(parent, NotNull()) << er.data();
// get body
mjsBody* body = mjs_findBody(parent, "sphere");
EXPECT_THAT(body, NotNull());
// model with one cylinder and a hinge
mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
EXPECT_THAT(child, NotNull()) << er.data();
// get subtree
mjsFrame* frame = mjs_findFrame(child, "pframe");
EXPECT_THAT(frame, NotNull());
// attach child frame to parent body
mjsFrame* attached =
mjs_asFrame(mjs_attach(body->element, frame->element, "attached-", "-1"));
EXPECT_THAT(attached, mjs_findFrame(parent, "attached-pframe-1"));
// check that the spec was copied
EXPECT_THAT(mjs_findSpec(parent, "child"), NotNull());
// check that the parent body was not namespaced
EXPECT_THAT(mjs_findBody(child, "world"), NotNull());
// compile new model
mjModel* m_attached = mj_compile(parent, 0);
EXPECT_THAT(m_attached, NotNull());
// check full name stored in mjModel
EXPECT_STREQ(mj_id2name(m_attached, mjOBJ_BODY, 2), "attached-body-1");
// check body 2 is attached to body 1
EXPECT_THAT(m_attached->body_parentid[2], 1);
// compare with expected XML
mjModel* m_expected = LoadModelFromString(xml_result, er.data(), er.size());
EXPECT_THAT(m_expected, NotNull()) << er.data();
EXPECT_LE(CompareModel(m_attached, m_expected, field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';;
// destroy everything
mj_deleteSpec(parent);
mj_deleteSpec(child);
mj_deleteModel(m_attached);
mj_deleteModel(m_expected);
}
TEST_F(MujocoTest, AttachCompiled) {
std::array<char, 1000> er;
static constexpr char xml_parent[] = R"(
<mujoco>
<worldbody>
<geom name="floor" pos="0 0 0" size="0 0 0.05" type="plane"/>
</worldbody>
</mujoco>)";
static constexpr char xml_child[] = R"(
<mujoco>
<worldbody>
<body name="base">
<freejoint/>
<geom name="geom1" size="0.1" type="sphere"/>
</body>
</worldbody>
</mujoco>)";
// load parent
mjSpec* parent = mj_parseXMLString(xml_parent, 0, er.data(), er.size());
EXPECT_THAT(parent, NotNull()) << er.data();
// load child
mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
EXPECT_THAT(child, NotNull()) << er.data();
// compile child
mjModel* m_child = mj_compile(child, 0);
EXPECT_THAT(m_child, NotNull()) << mjs_getError(child);
// add frame to the parent to attach
mjsBody* world = mjs_findBody(parent, "world");
EXPECT_THAT(world, NotNull()) << mjs_getError(parent);
mjsFrame* frame = mjs_addFrame(world, 0);
EXPECT_THAT(frame, NotNull()) << mjs_getError(parent);
// attach child body to the frame
mjsBody* to_attach = mjs_findBody(child, "base");
EXPECT_THAT(to_attach, NotNull()) << mjs_getError(child);
mjs_attach(frame->element, to_attach->element, "", "");
// check that attached model can be compiled
mjModel* m_attached = mj_compile(parent, 0);
EXPECT_THAT(m_attached, NotNull()) <<
"Failed to compile attached model" << mjs_getError(parent);
// destroy everything
mj_deleteSpec(parent);
mj_deleteSpec(child);
mj_deleteModel(m_attached);
mj_deleteModel(m_child);
}
void TestDetachBody(bool compile) {
std::array<char, 1000> er;
mjtNum tol = 0;
std::string field = "";
static constexpr char xml_result[] = R"(
<mujoco model="child">
<asset>
<texture name="texture" type="2d" builtin="checker" width="32" height="32"/>
<material name="material" texture="texture" texrepeat="1 1" texuniform="true"/>
</asset>
<custom>
<numeric data="10" name="constant"/>
</custom>
<worldbody>
<frame name="pframe">
<frame name="cframe">
</frame>
</frame>
<body name="ignore">
<geom size=".1"/>
<joint type="slide"/>
</body>
<frame name="frame" pos=".1 0 0" euler="0 90 0"/>
</worldbody>
<sensor>
<framepos name="ignore" objtype="body" objname="ignore"/>
</sensor>
<keyframe>
<key name="two" time="2" qpos="22"/>
<key name="three" time="3" qpos="33"/>
</keyframe>
</mujoco>)";
// model with one cylinder and a hinge
mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
EXPECT_THAT(child, NotNull()) << er.data();
// compile model (for testing double compilation)
mjModel* m_child = compile ? mj_compile(child, 0) : nullptr;
// get subtree
mjsBody* body = mjs_findBody(child, "body");
EXPECT_THAT(body, NotNull());
// delete subtree
EXPECT_THAT(mjs_delete(child, body->element), 0);
// try saving to XML before compiling again
std::array<char, 1024> e;
std::array<char, 1024> s;
EXPECT_EQ(mj_saveXMLString(child, s.data(), 1024, e.data(), 1024), -1);
EXPECT_THAT(e.data(), compile
? HasSubstr("Model has pending keyframes")
: HasSubstr("Only compiled model can be written"));
// compile new model
mjModel* m_detached = mj_compile(child, 0);
EXPECT_THAT(m_detached, NotNull());
// compare with expected XML
mjModel* m_expected = LoadModelFromString(xml_result, er.data(), er.size());
EXPECT_THAT(m_expected, NotNull()) << er.data();
EXPECT_LE(CompareModel(m_detached, m_expected, field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
// destroy everything
mj_deleteSpec(child);
mj_deleteModel(m_detached);
mj_deleteModel(m_expected);
if (m_child) mj_deleteModel(m_child);
}
TEST_F(MujocoTest, DetachBody) {
TestDetachBody(/*compile=*/false);
TestDetachBody(/*compile=*/true);
}
TEST_F(MujocoTest, AttachToSite) {
std::array<char, 1000> er;
mjtNum tol = 0;
std::string field = "";
static constexpr char xml_parent[] = R"(
<mujoco>
<worldbody>
<site name="site" pos="1 0 0" quat="0 1 0 0"/>
</worldbody>
</mujoco>)";
static constexpr char xml_child[] = R"(
<mujoco>
<worldbody>
<body name="sphere">
<joint type="slide"/>
<geom size=".1"/>
</body>
</worldbody>
</mujoco>)";
static constexpr char xml_result[] = R"(
<mujoco>
<worldbody>
<site name="site" pos="1 0 0" quat="0 1 0 0"/>
<frame pos="1 0 0" quat="0 1 0 0">
<body name="attached-sphere-1">
<joint type="slide"/>
<geom size=".1"/>
</body>
</frame>
</worldbody>
</mujoco>)";
mjSpec* parent = mj_parseXMLString(xml_parent, 0, er.data(), er.size());
EXPECT_THAT(parent, NotNull()) << er.data();
mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
EXPECT_THAT(child, NotNull()) << er.data();
mjsBody* world = mjs_findBody(parent, "world");
EXPECT_THAT(world, NotNull());
mjsSite* site = mjs_asSite(mjs_firstChild(world, mjOBJ_SITE, 0));
EXPECT_THAT(site, NotNull());
mjsBody* body = mjs_findBody(child, "sphere");
EXPECT_THAT(body, NotNull());
mjsBody* attached =
mjs_asBody(mjs_attach(site->element, body->element, "attached-", "-1"));
EXPECT_THAT(attached, NotNull());
mjModel* model = mj_compile(parent, 0);
EXPECT_THAT(model, NotNull());
mjModel* expected = LoadModelFromString(xml_result, er.data(), er.size());
EXPECT_THAT(expected, NotNull()) << er.data();
EXPECT_LE(CompareModel(model, expected, field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
mj_deleteSpec(parent);
mj_deleteSpec(child);
mj_deleteModel(model);
mj_deleteModel(expected);
}
TEST_F(MujocoTest, AttachFrameToSite) {
std::array<char, 1000> er;
mjtNum tol = 0;
std::string field = "";
static constexpr char xml_parent[] = R"(
<mujoco>
<worldbody>
<site name="site" pos="1 0 0" quat="0 1 0 0"/>
</worldbody>
</mujoco>)";
static constexpr char xml_child[] = R"(
<mujoco>
<worldbody>
<frame name="frame">
<body name="sphere">
<joint type="slide"/>
<geom size=".1"/>
</body>
</frame>
</worldbody>
</mujoco>)";
static constexpr char xml_result[] = R"(
<mujoco>
<worldbody>
<site name="site" pos="1 0 0" quat="0 1 0 0"/>
<frame pos="1 0 0" quat="0 1 0 0">
<body name="attached-sphere-1">
<joint type="slide"/>
<geom size=".1"/>
</body>
</frame>
</worldbody>
</mujoco>)";
mjSpec* parent = mj_parseXMLString(xml_parent, 0, er.data(), er.size());
EXPECT_THAT(parent, NotNull()) << er.data();
mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
EXPECT_THAT(child, NotNull()) << er.data();
mjsBody* world = mjs_findBody(parent, "world");
EXPECT_THAT(world, NotNull());
mjsSite* site = mjs_asSite(mjs_firstChild(world, mjOBJ_SITE, 0));
EXPECT_THAT(site, NotNull());
mjsFrame* frame = mjs_findFrame(child, "frame");
EXPECT_THAT(frame, NotNull());
mjsFrame* attached =
mjs_asFrame(mjs_attach(site->element, frame->element, "attached-", "-1"));
EXPECT_THAT(attached, NotNull());
mjModel* model = mj_compile(parent, 0);
EXPECT_THAT(model, NotNull());
mjModel* expected = LoadModelFromString(xml_result, er.data(), er.size());
EXPECT_THAT(expected, NotNull()) << er.data();
EXPECT_LE(CompareModel(model, expected, field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
mj_deleteSpec(parent);
mj_deleteSpec(child);
mj_deleteModel(model);
mj_deleteModel(expected);
}
TEST_F(MujocoTest, BodyToFrame) {
std::array<char, 1000> er;
mjtNum tol = 0;
std::string field = "";
static constexpr char xml_parent[] = R"(
<mujoco>
<worldbody>
<body name="body">
<frame name="frame" pos="1 2 3"/>
</body>
</worldbody>
</mujoco>)";
static constexpr char xml_child[] = R"(
<mujoco>
<worldbody>
<body name="sphere">
<joint type="slide"/>
<geom size=".1"/>
</body>
<camera pos="0 0 0" quat="1 0 0 0"/>
</worldbody>
</mujoco>)";
static constexpr char xml_result[] = R"(
<mujoco>
<worldbody>
<body name="body">
<frame name="frame" pos="1 2 3">
<body name="attached-sphere-1">
<joint type="slide"/>
<geom size=".1"/>
</body>
<frame name="attached-world-2">
<body name="attached-sphere-2">
<joint type="slide"/>
<geom size=".1"/>
</body>
<camera pos="0 0 0" quat="1 0 0 0"/>
</frame>
</frame>
</body>
</worldbody>
</mujoco>)";
mjSpec* parent = mj_parseXMLString(xml_parent, 0, er.data(), er.size());
EXPECT_THAT(parent, NotNull()) << er.data();
mjSpec* child1 = mj_parseXMLString(xml_child, 0, er.data(), er.size());
EXPECT_THAT(child1, NotNull()) << er.data();
mjSpec* child2 = mj_parseXMLString(xml_child, 0, er.data(), er.size());
EXPECT_THAT(child2, NotNull()) << er.data();
// attach a body to the frame
mjsFrame* frame = mjs_findFrame(parent, "frame");
EXPECT_THAT(frame, NotNull());
mjsBody* body = mjs_findBody(child1, "sphere");
EXPECT_THAT(body, NotNull());
mjsBody* attached =
mjs_asBody(mjs_attach(frame->element, body->element, "attached-", "-1"));
EXPECT_THAT(attached, NotNull());
mjModel* model1 = mj_compile(parent, 0);
EXPECT_THAT(model1, NotNull());
// attach the world to the same frame and convert it to a frame
mjsBody* world = mjs_findBody(child2, "world");
EXPECT_THAT(world, NotNull());
mjsBody* child_world =
mjs_asBody(mjs_attach(frame->element, world->element, "attached-", "-2"));
EXPECT_THAT(child_world, NotNull());
mjsFrame* frame_world = mjs_bodyToFrame(&child_world);
EXPECT_THAT(frame_world, NotNull());
EXPECT_THAT(child_world, IsNull());
// compile and compare
mjModel* model2 = mj_compile(parent, 0);
EXPECT_THAT(model2, NotNull());
mjModel* expected = LoadModelFromString(xml_result, er.data(), er.size());
EXPECT_THAT(expected, NotNull()) << er.data();
EXPECT_LE(CompareModel(model2, expected, field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
mj_deleteSpec(parent);
mj_deleteSpec(child1);
mj_deleteSpec(child2);
mj_deleteModel(model1);
mj_deleteModel(model2);
mj_deleteModel(expected);
}
TEST_F(MujocoTest, BodyToFrameWithInertial) {
static constexpr char xml_child[] = R"(
<mujoco>
<worldbody>
<body name="parent">
<body name="child">
<inertial mass="1" pos="0 0 0" quat="1 0 0 0" diaginertia="1 2 3"/>
</body>
</body>
</worldbody>
</mujoco>)";
std::array<char, 1000> er;
mjSpec* spec = mj_parseXMLString(xml_child, 0, er.data(), er.size());
EXPECT_THAT(spec, NotNull()) << er.data();
mjModel* model = mj_compile(spec, 0);
EXPECT_THAT(model, NotNull());
mjsBody* parent = mjs_findBody(spec, "parent");
EXPECT_THAT(parent, NotNull());
mjsBody* child = mjs_findBody(spec, "child");
EXPECT_THAT(child, NotNull());
mjs_bodyToFrame(&child);
EXPECT_THAT(parent->mass, 1);
EXPECT_THAT(parent->fullinertia[0], 1);
EXPECT_THAT(parent->fullinertia[1], 2);
EXPECT_THAT(parent->fullinertia[2], 3);
mj_deleteSpec(spec);
mj_deleteModel(model);
}
TEST_F(MujocoTest, AttachSpecToSite) {
std::array<char, 1000> er;
mjtNum tol = 0;
std::string field = "";
static constexpr char xml_parent[] = R"(
<mujoco>
<worldbody>
<body name="body">
<site name="site" pos="1 2 3"/>
</body>
</worldbody>
</mujoco>)";
static constexpr char xml_child[] = R"(
<mujoco>
<worldbody>
<body name="sphere">
<joint type="slide"/>
<geom size=".1"/>
</body>
<camera pos="0 0 0" quat="1 0 0 0"/>
</worldbody>
</mujoco>)";
static constexpr char xml_result[] = R"(
<mujoco>
<worldbody>
<body name="body">
<site name="site" pos="1 2 3"/>
<frame name="attached-world-1" pos="1 2 3">
<body name="attached-sphere-1">
<joint type="slide"/>
<geom size=".1"/>
</body>
<camera pos="0 0 0" quat="1 0 0 0"/>
</frame>
</body>
</worldbody>
</mujoco>)";
mjSpec* parent = mj_parseXMLString(xml_parent, 0, er.data(), er.size());
EXPECT_THAT(parent, NotNull()) << er.data();
mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
EXPECT_THAT(child, NotNull()) << er.data();
mjsSite* site = mjs_asSite(mjs_findElement(parent, mjOBJ_SITE, "site"));
EXPECT_THAT(site, NotNull());
// add a frame to the child
mjsBody* world = mjs_findBody(child, "world");
EXPECT_THAT(world, NotNull());
mjsFrame* frame = mjs_addFrame(world, 0);
EXPECT_THAT(frame, NotNull());
mjs_setName(frame->element, "world");
mjs_setFrame(mjs_firstChild(world, mjOBJ_BODY, 0), frame);
mjs_setFrame(mjs_firstChild(world, mjOBJ_CAMERA, 0), frame);
// attach the entire spec to the site
mjsFrame* worldframe =
mjs_asFrame(mjs_attach(site->element, frame->element, "attached-", "-1"));
EXPECT_THAT(worldframe, NotNull());
// compile and compare
mjModel* model = mj_compile(parent, 0);
EXPECT_THAT(model, NotNull());
mjModel* expected = LoadModelFromString(xml_result, er.data(), er.size());
EXPECT_THAT(expected, NotNull()) << er.data();
EXPECT_LE(CompareModel(model, expected, field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
// check that the child world still exists
mjsBody* child_world = mjs_findBody(child, "world");
EXPECT_THAT(child_world, NotNull());
mj_deleteSpec(parent);
mj_deleteSpec(child);
mj_deleteModel(model);
mj_deleteModel(expected);
}
TEST_F(MujocoTest, AttachSpecToBody) {
std::array<char, 1000> er;
mjtNum tol = 0;
std::string field = "";
static constexpr char xml_parent[] = R"(
<mujoco>
<worldbody>
<body name="body"/>
</worldbody>
</mujoco>)";
static constexpr char xml_child[] = R"(
<mujoco>
<worldbody>
<body name="sphere">
<joint type="slide"/>
<geom size=".1"/>
</body>
<camera pos="0 0 0" quat="1 0 0 0"/>
</worldbody>
</mujoco>)";
static constexpr char xml_result[] = R"(
<mujoco>
<worldbody>
<body name="body">
<frame name="attached-world-1" pos="1 2 3">
<body name="attached-sphere-1">
<joint type="slide"/>
<geom size=".1"/>
</body>
<camera pos="0 0 0" quat="1 0 0 0"/>
</frame>
</body>
</worldbody>
</mujoco>)";
mjSpec* parent = mj_parseXMLString(xml_parent, 0, er.data(), er.size());
EXPECT_THAT(parent, NotNull()) << er.data();
mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
EXPECT_THAT(child, NotNull()) << er.data();
mjsBody* body = mjs_findBody(parent, "body");
EXPECT_THAT(body, NotNull());
// add a frame to the child
mjsBody* world = mjs_findBody(child, "world");
EXPECT_THAT(world, NotNull());
mjsFrame* frame = mjs_addFrame(world, 0);
EXPECT_THAT(frame, NotNull());
mjs_setName(frame->element, "world");
mjs_setFrame(mjs_firstChild(world, mjOBJ_BODY, 0), frame);
mjs_setFrame(mjs_firstChild(world, mjOBJ_CAMERA, 0), frame);
// attach the entire spec to the site
mjsFrame* worldframe =
mjs_asFrame(mjs_attach(body->element, frame->element, "attached-", "-1"));
EXPECT_THAT(worldframe, NotNull());
worldframe->pos[0] = 1;
worldframe->pos[1] = 2;
worldframe->pos[2] = 3;
// compile and compare
mjModel* model = mj_compile(parent, 0);
EXPECT_THAT(model, NotNull());
mjModel* expected = LoadModelFromString(xml_result, er.data(), er.size());
EXPECT_THAT(expected, NotNull()) << er.data();
EXPECT_LE(CompareModel(model, expected, field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
// check that the child world still exists
mjsBody* child_world = mjs_findBody(child, "world");
EXPECT_THAT(child_world, NotNull());
mj_deleteSpec(parent);
mj_deleteSpec(child);
mj_deleteModel(model);
mj_deleteModel(expected);
}
TEST_F(MujocoTest, PreserveState) {
std::array<char, 1000> er;
std::string field = "";
static constexpr char xml_full[] = R"(
<mujoco>
<worldbody>
<body name="detachable" pos="1 0 0">
<joint type="hinge" axis="0 0 1" name="hinge"/>
<geom type="sphere" size=".1"/>
</body>
<body name="persistent">
<joint type="slide" axis="0 0 1" name="slide"/>
<geom type="sphere" size=".2"/>
</body>
<body name="mocap_detach" mocap="true"/>
<body name="mocap" mocap="true"/>
</worldbody>
<actuator>
<position name="hinge" joint="hinge" timeconst=".01"/>
<position name="slide" joint="slide" timeconst=".01"/>
</actuator>
</mujoco>)";
static constexpr char xml_expected[] = R"(
<mujoco>
<worldbody>
<body name="persistent">
<joint type="slide" axis="0 0 1" name="slide"/>
<geom type="sphere" size=".2"/>
</body>
<body name="newbody" pos="2 0 0">
<joint type="slide" axis="0 0 1"/>
<geom type="sphere" size=".3"/>
</body>
<body name="mocap" mocap="true"/>
</worldbody>
<actuator>
<position name="slide" joint="slide" timeconst=".01"/>
</actuator>
</mujoco>)";
// load spec
mjSpec* spec = mj_parseXMLString(xml_full, 0, er.data(), er.size());
EXPECT_THAT(spec, NotNull()) << er.data();
// compile models
mjModel* model = mj_compile(spec, 0);
EXPECT_THAT(model, NotNull());
mjModel* m_expected = LoadModelFromString(xml_expected, er.data(), er.size());
EXPECT_THAT(m_expected, NotNull());
// create data
mjData* data = mj_makeData(model);
EXPECT_THAT(data, NotNull());
mjData* d_expected = mj_makeData(m_expected);
EXPECT_THAT(d_expected, NotNull());
// set ctrl
data->ctrl[0] = 1;
data->ctrl[1] = 2;
d_expected->ctrl[0] = 2;
// set mocap
data->mocap_pos[3] = 1;
data->mocap_quat[4] = 0;
data->mocap_quat[5] = 1;
d_expected->mocap_pos[0] = 1;
d_expected->mocap_quat[0] = 0;
d_expected->mocap_quat[1] = 1;
// step models
mj_step(model, data);
mj_step(m_expected, d_expected);
EXPECT_THAT(data->time, model->opt.timestep);
// detach subtree
mjsBody* body = mjs_findBody(spec, "detachable");
EXPECT_THAT(body, NotNull());
EXPECT_THAT(mjs_delete(spec, body->element), 0);
// detach mocap
mjsBody* mocap_body = mjs_findBody(spec, "mocap_detach");
EXPECT_THAT(mocap_body, NotNull());
EXPECT_THAT(mjs_delete(spec, mocap_body->element), 0);
// add body
mjsBody* newbody = mjs_addBody(mjs_findBody(spec, "world"), 0);
EXPECT_THAT(newbody, NotNull());
// add geom and joint
mjsGeom* geom = mjs_addGeom(newbody, 0);
mjsJoint* joint = mjs_addJoint(newbody, 0);
// set properties
newbody->pos[0] = 2;
geom->size[0] = .3;
joint->type = mjJNT_SLIDE;
joint->axis[0] = 0;
joint->axis[1] = 0;
joint->axis[2] = 1;
joint->ref = d_expected->qpos[m_expected->nq-1];
// compile new model
mj_recompile(spec, 0, model, data);
EXPECT_THAT(model, NotNull());
EXPECT_THAT(data->time, model->opt.timestep);
// compare qpos
EXPECT_EQ(model->nq, m_expected->nq);
for (int i = 0; i < model->nq; ++i) {
EXPECT_EQ(data->qpos[i], d_expected->qpos[i]) << i;
}
// compare qvel
EXPECT_EQ(model->nv, m_expected->nv);
for (int i = 0; i < model->nv-1; ++i) {
EXPECT_EQ(data->qvel[i], d_expected->qvel[i]) << i;
}
// second body was added after stepping so qvel should be zero
EXPECT_EQ(data->qvel[model->nv-1], 0);
// compare act
EXPECT_EQ(model->na, m_expected->na);
for (int i = 0; i < model->na; ++i) {
EXPECT_EQ(data->act[i], d_expected->act[i]) << i;
}
// compare mocap
EXPECT_EQ(model->nmocap, m_expected->nmocap);
for (int i = 0; i < model->nmocap; ++i) {
for (int j = 0; j < 3; ++j) {
EXPECT_EQ(data->mocap_pos[3*i+j], d_expected->mocap_pos[3*i+j]) << i;
}
for (int j = 0; j < 4; ++j) {
EXPECT_EQ(data->mocap_quat[4*i+j], d_expected->mocap_quat[4*i+j]) << i;
}
}
// check that the function is callable with no data
mj_deleteData(data);
mj_recompile(spec, 0, model, nullptr);
// destroy everything
mj_deleteData(d_expected);
mj_deleteSpec(spec);
mj_deleteModel(model);
mj_deleteModel(m_expected);
}
TEST_F(MujocoTest, RecompileAttach) {
std::array<char, 1000> er;
std::string field = "";
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body name="body">
<joint type="slide" axis="0 0 1"/>
<geom size=".2"/>
</body>
</worldbody>
</mujoco>)";
mjSpec* parent = mj_makeSpec();
EXPECT_THAT(parent, NotNull());
mjSpec* child1 = mj_parseXMLString(xml, 0, er.data(), er.size());
EXPECT_THAT(child1, NotNull());
mjSpec* child2 = mj_parseXMLString(xml, 0, er.data(), er.size());
EXPECT_THAT(child2, NotNull());
mjsElement* frame1 = mjs_addFrame(mjs_findBody(parent, "world"), 0)->element;
mjs_attach(frame1, mjs_findBody(child1, "body")->element, "child-", "-1");
mjModel* model = mj_compile(parent, 0);
EXPECT_THAT(model, NotNull());
EXPECT_THAT(model->nq, 1);
mjData* data = mj_makeData(model);
EXPECT_THAT(data, NotNull());
for (int i = 0; i < 100; i++) {
mj_step(model, data);
}
mjsElement* frame2 = mjs_addFrame(mjs_findBody(parent, "world"), 0)->element;
mjs_attach(frame2, mjs_findBody(child2, "body")->element, "child-", "-2");
EXPECT_EQ(mj_recompile(parent, 0, model, data), 0);
EXPECT_THAT(model, NotNull());
EXPECT_THAT(model->nq, 2);
EXPECT_NE(data->qpos[0], data->qpos[1]);
EXPECT_EQ(data->qpos[1], 0);
mj_deleteData(data);
mj_deleteModel(model);
mj_deleteSpec(child1);
mj_deleteSpec(child2);
mj_deleteSpec(parent);
}
TEST_F(MujocoTest, AttachMocap) {
std::array<char, 1000> er;
mjtNum tol = 0;
std::string field = "";
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body pos="1 1 1" quat="0 1 0 0" name="mocap" mocap="true"/>
</worldbody>
<keyframe>
<key name="key" time="1" mpos="2 2 2" mquat="0 0 0 1"/>
</keyframe>
</mujoco>)";
static constexpr char xml_expected[] = R"(
<mujoco>
<worldbody>
<body pos="1 1 1" quat="0 1 0 0" name="mocap" mocap="true"/>
<body pos="1 1 1" quat="0 1 0 0" name="attached-mocap-1" mocap="true"/>
</worldbody>
<keyframe>
<key name="key" time="1" mpos="2 2 2 1 1 1" mquat="0 0 0 1 0 1 0 0"/>
<key name="attached-key-1" time="1" mpos="1 1 1 2 2 2" mquat="0 1 0 0 0 0 0 1"/>
</keyframe>
</mujoco>)";
mjSpec* spec = mj_parseXMLString(xml, 0, er.data(), er.size());
EXPECT_THAT(spec, NotNull()) << er.data();
mjs_setDeepCopy(spec, true); // needed for self-attach
mjsBody* body = mjs_findBody(spec, "mocap");
EXPECT_THAT(body, NotNull());
mjsBody* world = mjs_findBody(spec, "world");
EXPECT_THAT(world, NotNull());
mjsElement* frame = mjs_addFrame(world, NULL)->element;
mjs_attach(frame, body->element, "attached-", "-1");
mjsBody* attached_body = mjs_findBody(spec, "attached-mocap-1");
EXPECT_THAT(attached_body, NotNull());
mjModel* model = mj_compile(spec, 0);
EXPECT_THAT(model, NotNull());
mjModel* m_expected = LoadModelFromString(xml_expected, er.data(), er.size());
EXPECT_THAT(m_expected, NotNull()) << er.data();
EXPECT_LE(CompareModel(model, m_expected, field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
mj_deleteSpec(spec);
mj_deleteModel(model);
mj_deleteModel(m_expected);
}
TEST_F(MujocoTest, ReplicateKeyframe) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<replicate count="1" euler="0 0 1.8">
<body name="body" pos="0 -1 0">
<joint type="slide"/>
<geom name="g" size="1"/>
</body>
</replicate>
</worldbody>
<keyframe>
<key name="keyframe" qpos="1"/>
</keyframe>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, testing::NotNull()) << error.data();
EXPECT_THAT(m->ngeom, 1);
EXPECT_THAT(m->nbody, 2);
// check that the keyframe is resized
EXPECT_THAT(m->nkey, 2);
EXPECT_THAT(m->nq, 1);
EXPECT_THAT(m->key_qpos[0], 1);
EXPECT_THAT(m->key_qpos[1], 0);
EXPECT_STREQ(mj_id2name(m, mjOBJ_KEY, 0), "keyframe0");
EXPECT_STREQ(mj_id2name(m, mjOBJ_KEY, 1), "keyframe");
mj_deleteModel(m);
}
TEST_F(MujocoTest, AttachUnnamedAssets) {
static constexpr char cube[] = R"(
v -1 -1 1
v 1 -1 1
v -1 1 1
v 1 1 1
v -1 1 -1
v 1 1 -1
v -1 -1 -1
v 1 -1 -1)";
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
mj_addBufferVFS(vfs.get(), "cube.obj", cube, sizeof(cube));
mjSpec* child = mj_makeSpec();
mjsMesh* mesh = mjs_addMesh(child, 0);
mjsFrame* frame = mjs_addFrame(mjs_findBody(child, "world"), 0);
mjsGeom* geom = mjs_addGeom(mjs_findBody(child, "world"), 0);
mjs_setFrame(geom->element, frame);
mjs_setString(mesh->file, "cube.obj");
mjs_setString(geom->meshname, "cube");
geom->type = mjGEOM_MESH;
mjSpec* spec = mj_makeSpec();
mjs_attach(mjs_findBody(spec, "world")->element, frame->element, "_", "");
mjModel* model = mj_compile(spec, vfs.get());
EXPECT_THAT(model, NotNull());
EXPECT_THAT(model->nmesh, 1);
EXPECT_STREQ(mj_id2name(model, mjOBJ_MESH, 0), "_cube");
mj_deleteVFS(vfs.get());
mj_deleteSpec(spec);
mj_deleteSpec(child);
mj_deleteModel(model);
}
TEST_F(MujocoTest, InitTexture) {
mjSpec* spec = mj_makeSpec();
EXPECT_THAT(spec, NotNull());
mjsTexture* texture = mjs_addTexture(spec);
mjs_setName(texture->element, "checker");
texture->type = mjTEXTURE_CUBE;
texture->builtin = mjBUILTIN_CHECKER;
texture->width = 300;
texture->height = 300;
mjsMaterial* material = mjs_addMaterial(spec, 0);
mjs_setName(material->element, "floor");
mjs_setInStringVec(material->textures, mjTEXROLE_RGB, "checker");
mjsGeom* floor = mjs_addGeom(mjs_findBody(spec, "world"), 0);
mjs_setString(floor->material, "floor");
floor->type = mjGEOM_PLANE;
floor->size[0] = 1;
floor->size[1] = 1;
floor->size[2] = 0.01;
mjs_setString(floor->material, "floor");
mjModel* model = mj_compile(spec, 0);
EXPECT_THAT(model, NotNull());
mj_deleteModel(model);
mj_deleteSpec(spec);
}
void AttachNestedKeyframe(bool compile) {
static constexpr char parent_xml[] = R"(
<mujoco>
<worldbody>
<body name="body">
<joint name="joint" type="slide"/>
<geom size=".1"/>
</body>
<frame name="frame"/>
</worldbody>
</mujoco>)";
static constexpr char child_xml[] = R"(
<mujoco>
<worldbody>
<body name="body">
<joint name="joint" type="slide"/>
<geom size=".2"/>
<frame name="frame"/>
</body>
</worldbody>
<keyframe>
<key name="key2" time="2" qpos="2"/>
</keyframe>
</mujoco>)";
static constexpr char gchild_xml[] = R"(
<mujoco>
<worldbody>
<body name="body">
<joint name="joint" type="slide"/>
<geom size=".3"/>
</body>
</worldbody>
<keyframe>
<key name="key1" time="1" qpos="1"/>
</keyframe>
</mujoco>)";
static constexpr char expected_xml[] = R"(
<mujoco>
<worldbody>
<body name="body">
<joint name="joint" type="slide"/>
<geom size=".1"/>
</body>
<frame name="frame">
<body name="child-body">
<joint name="child-joint" type="slide"/>
<geom size=".2"/>
<frame name="child-frame">
<body name="child-gchild-body">
<joint name="child-gchild-joint" type="slide"/>
<geom size=".3"/>
</body>
</frame>
</body>
</frame>
</worldbody>
<keyframe>
<key name="child-key2" time="2" qpos="0 2 0"/>
<key name="child-gchild-key1" time="1" qpos="0 0 1"/>
</keyframe>
</mujoco>)";
static constexpr char expected_xml_uncompiled[] = R"(
<mujoco>
<worldbody>
<body name="body">
<joint name="joint" type="slide"/>
<geom size=".1"/>
</body>
<frame name="frame">
<body name="child-body">
<joint name="child-joint" type="slide"/>
<geom size=".2"/>
<frame name="child-frame">
<body name="child-gchild-body">
<joint name="child-gchild-joint" type="slide"/>
<geom size=".3"/>
</body>
</frame>
</body>
</frame>
</worldbody>
<keyframe>
<key name="child-key2" time="2" qpos="0 2 0"/>
<key name="gchild-key1" time="1" qpos="0 0 1"/>
</keyframe>
</mujoco>)";
std::array<char, 1000> er;
mjSpec* parent = mj_parseXMLString(parent_xml, 0, er.data(), er.size());
EXPECT_THAT(parent, NotNull()) << er.data();
mjSpec* child = mj_parseXMLString(child_xml, 0, er.data(), er.size());
EXPECT_THAT(child, NotNull()) << er.data();
mjSpec* gchild = mj_parseXMLString(gchild_xml, 0, er.data(), er.size());
EXPECT_THAT(gchild, NotNull()) << er.data();
mjs_setDeepCopy(parent, true);
mjs_setDeepCopy(child, true);
// attach gchild to child
mjs_attach(mjs_findFrame(child, "frame")->element,
mjs_findBody(gchild, "body")->element, "gchild-", "");
// compile required before further attachment
mjModel* m_child = compile ? mj_compile(child, 0) : nullptr;
// check warning is issued, empty for a compiled model
static char warning[1024];
warning[0] = '\0';
mju_user_warning = [](const char* msg) {
util::strcpy_arr(warning, msg);
};
// attach child to parent
mjs_attach(mjs_findFrame(parent, "frame")->element,
mjs_findBody(child, "body")->element, "child-", "");
EXPECT_THAT(warning, HasSubstr(compile ? "" : "model has pending keyframes"));
// compare models
mjtNum tol = 0;
std::string field = "";
mjModel* m_attached = mj_compile(parent, 0);
EXPECT_THAT(m_attached, NotNull());
mjModel* m_expected = LoadModelFromString(
compile ? expected_xml : expected_xml_uncompiled, er.data(), er.size());
EXPECT_THAT(m_expected, NotNull()) << er.data();
EXPECT_LE(CompareModel(m_attached, m_expected, field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';;
mj_deleteSpec(parent);
mj_deleteSpec(child);
mj_deleteSpec(gchild);
mj_deleteModel(m_expected);
mj_deleteModel(m_attached);
mj_deleteModel(m_child);
}
TEST_F(MujocoTest, TestAttachNestedKeyframe) {
AttachNestedKeyframe(/*compile=*/true);
AttachNestedKeyframe(/*compile=*/false);
}
TEST_F(MujocoTest, RepeatedAttachKeyframe) {
static constexpr char xml_1[] = R"(
<mujoco model="MuJoCo Model">
<worldbody>
<body name="body"/>
</worldbody>
</mujoco>)";
static constexpr char xml_2[] = R"(
<mujoco model="MuJoCo Model">
<worldbody>
<body name="b1">
<joint/>
<geom size="0.1"/>
</body>
<body name="b2">
<joint/>
<geom size="0.1"/>
</body>
</worldbody>
<keyframe>
<key name="home" qpos="1 2" />
</keyframe>
</mujoco>)";
std::array<char, 1000> er;
mjSpec* parent = mj_parseXMLString(xml_1, 0, er.data(), er.size());
EXPECT_THAT(parent, NotNull()) << er.data();
mjSpec* child = mj_parseXMLString(xml_2, 0, er.data(), er.size());
EXPECT_THAT(child, NotNull()) << er.data();
mjsBody* body_1 = mjs_findBody(parent, "body");
mjsElement* attachment_frame = mjs_addFrame(body_1, 0)->element;
mjs_attach(attachment_frame, mjs_findBody(child, "b1")->element, "b1-", "");
mjModel* model_1 = mj_compile(parent, 0);
EXPECT_THAT(model_1, NotNull());
mjs_attach(attachment_frame, mjs_findBody(child, "b2")->element, "b2-", "");
mjModel* model_2 = mj_compile(parent, 0);
EXPECT_THAT(model_2, NotNull());
EXPECT_EQ(model_1->nkey, 1);
EXPECT_EQ(model_2->nkey, 2);
EXPECT_STREQ(mj_id2name(model_2, mjOBJ_KEY, 0), "b1-home");
EXPECT_STREQ(mj_id2name(model_2, mjOBJ_KEY, 1), "b2-home");
mj_deleteSpec(parent);
mj_deleteSpec(child);
mj_deleteModel(model_1);
mj_deleteModel(model_2);
}
TEST_F(MujocoTest, ResizeParentKeyframe) {
static constexpr char xml_parent[] = R"(
<mujoco model="MuJoCo Model">
<worldbody>
<frame name="frame"/>
<body name="body">
<joint/>
<geom size="0.1"/>
</body>
</worldbody>
<keyframe>
<key name="home" qpos="1"/>
</keyframe>
</mujoco>)";
static constexpr char xml_child[] = R"(
<mujoco model="MuJoCo Model">
<worldbody>
<body name="body">
<joint/>
<geom size="0.1"/>
</body>
</worldbody>
</mujoco>)";
static constexpr char xml_expected[] = R"(
<mujoco model="MuJoCo Model">
<worldbody>
<body name="body">
<joint/>
<geom size="0.1"/>
</body>
<frame name="frame">
<body name="child-body">
<joint/>
<geom size="0.1"/>
</body>
</frame>
</worldbody>
<keyframe>
<key name="home" qpos="1 0"/>
</keyframe>
</mujoco>)";
std::array<char, 1000> er;
mjSpec* parent = mj_parseXMLString(xml_parent, 0, er.data(), er.size());
EXPECT_THAT(parent, NotNull()) << er.data();
mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
EXPECT_THAT(child, NotNull()) << er.data();
mjs_attach(mjs_findFrame(parent, "frame")->element,
mjs_findBody(child, "body")->element, "child-", "");
mjModel* model = mj_compile(parent, 0);
EXPECT_THAT(model, NotNull());
mjtNum tol = 0;
std::string field = "";
mjModel* expected = LoadModelFromString(xml_expected, er.data(), er.size());
EXPECT_THAT(expected, NotNull()) << er.data();
EXPECT_LE(CompareModel(model, expected, field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
mj_deleteSpec(parent);
mj_deleteSpec(child);
mj_deleteModel(model);
mj_deleteModel(expected);
}
TEST_F(MujocoTest, KeyframeSizeError) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<replicate count="2" offset="0 1 0">
<body name="ball" pos="0 0 1">
<geom type="sphere" size="0.1"/>
<joint/>
</body>
</replicate>
</worldbody>
<keyframe>
<key name="valid_qpos" qpos="0.5"/>
<key name="invalid_qpos" qpos="0.5 0.25"/>
</keyframe>
</mujoco>
)";
std::array<char, 1000> er;
mjSpec* spec = mj_parseXMLString(xml, 0, er.data(), er.size());
EXPECT_THAT(spec, IsNull());
EXPECT_THAT(er.data(), HasSubstr(
"Keyframe 'invalid_qpos' has invalid qpos size, got 2, should be 1"));
}
TEST_F(MujocoTest, DifferentUnitsAllowed) {
static constexpr char gchild_xml[] = R"(
<mujoco>
<compiler angle="degree"/>
<worldbody>
<body name="gchild" euler="-90 0 0">
<geom type="box" size="1 1 1"/>
<joint name="gchild_joint" range="-180 180"/>
</body>
</worldbody>
</mujoco>
)";
static constexpr char child_xml[] = R"(
<mujoco>
<compiler angle="radian"/>
<worldbody>
<body name="child" euler="-1.5707963 0 0">
<geom type="box" size="1 1 1"/>
<joint name="child_joint" range="-3.1415926 3.1415926"/>
<frame name="frame" euler="1.5707963 0 0"/>
</body>
</worldbody>
</mujoco>
)";
static constexpr char parent_xml[] = R"(
<mujoco>
<worldbody>
<body name="parent">
<geom type="box" size="1 1 1"/>
<joint name="parent_joint" range="-180 180"/>
<frame name="frame" euler="90 0 0"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjSpec* gchild =
mj_parseXMLString(gchild_xml, 0, error.data(), error.size());
mjSpec* child = mj_parseXMLString(child_xml, 0, error.data(), error.size());
mjSpec* spec = mj_parseXMLString(parent_xml, 0, error.data(), error.size());
ASSERT_THAT(spec, NotNull()) << error.data();
mjs_attach(mjs_findFrame(child, "frame")->element,
mjs_findBody(gchild, "gchild")->element, "gchild_", "");
mjs_attach(mjs_findFrame(spec, "frame")->element,
mjs_findBody(child, "child")->element, "child_", "");
mjModel* model = mj_compile(spec, 0);
EXPECT_THAT(model, NotNull());
EXPECT_THAT(model->njnt, 3);
EXPECT_NEAR(model->jnt_range[0], -mjPI, 1e-6);
EXPECT_NEAR(model->jnt_range[1], mjPI, 1e-6);
EXPECT_NEAR(model->jnt_range[2], -mjPI, 1e-6);
EXPECT_NEAR(model->jnt_range[3], mjPI, 1e-6);
EXPECT_NEAR(model->jnt_range[4], -mjPI, 1e-6);
EXPECT_NEAR(model->jnt_range[5], mjPI, 1e-6);
EXPECT_NEAR(model->body_quat[4], 1, 1e-12);
EXPECT_NEAR(model->body_quat[5], 0, 1e-12);
EXPECT_NEAR(model->body_quat[6], 0, 1e-12);
EXPECT_NEAR(model->body_quat[7], 0, 1e-12);
mjSpec* copied_spec = mj_copySpec(spec);
ASSERT_THAT(copied_spec, NotNull());
mj_deleteSpec(gchild);
mj_deleteSpec(child);
mj_deleteSpec(spec);
mj_deleteModel(model);
// check that deleting `parent` or `child` does not invalidate the copy
mjModel* copied_model = mj_compile(copied_spec, 0);
EXPECT_THAT(copied_model, NotNull());
EXPECT_THAT(copied_model->njnt, 3);
EXPECT_NEAR(copied_model->jnt_range[0], -mjPI, 1e-6);
EXPECT_NEAR(copied_model->jnt_range[1], mjPI, 1e-6);
EXPECT_NEAR(copied_model->jnt_range[2], -mjPI, 1e-6);
EXPECT_NEAR(copied_model->jnt_range[3], mjPI, 1e-6);
EXPECT_NEAR(copied_model->jnt_range[4], -mjPI, 1e-6);
EXPECT_NEAR(copied_model->jnt_range[5], mjPI, 1e-6);
EXPECT_NEAR(copied_model->body_quat[4], 1, 1e-12);
EXPECT_NEAR(copied_model->body_quat[5], 0, 1e-12);
EXPECT_NEAR(copied_model->body_quat[6], 0, 1e-12);
EXPECT_NEAR(copied_model->body_quat[7], 0, 1e-12);
mj_deleteSpec(copied_spec);
mj_deleteModel(copied_model);
}
TEST_F(MujocoTest, DifferentOptionsInAttachedFrame) {
static constexpr char xml_parent[] = R"(
<mujoco>
<worldbody/>
</mujoco>
)";
static constexpr char xml_child[] = R"(
<mujoco>
<compiler eulerseq="zyx"/>
<worldbody>
<frame name="child" >
<site euler="0 90 180"/>
</frame>
</worldbody>
</mujoco>
)";
// load specs and compile child
mjSpec* parent = mj_parseXMLString(xml_parent, 0, nullptr, 0);
EXPECT_THAT(parent, NotNull());
mjSpec* child1 = mj_parseXMLString(xml_child, 0, nullptr, 0);
EXPECT_THAT(child1, NotNull());
mjModel* m_child1 = mj_compile(child1, 0);
EXPECT_THAT(m_child1, NotNull());
mjSpec* child2 = mj_parseXMLString(xml_child, 0, nullptr, 0);
EXPECT_THAT(child2, NotNull());
mjModel* m_child2 = mj_compile(child1, 0);
EXPECT_THAT(m_child2, NotNull());
// attach child frame to parent worldbody
mjsBody* world = mjs_findBody(parent, "world");
EXPECT_THAT(world, NotNull());
mjsFrame* child1_frame = mjs_findFrame(child1, "child");
EXPECT_THAT(child1_frame, NotNull());
mjsFrame* child2_frame = mjs_findFrame(child2, "child");
EXPECT_THAT(child2_frame, NotNull());
mjsElement* attached_frame1 =
mjs_attach(world->element, child1_frame->element, "child-", "-1");
EXPECT_THAT(attached_frame1, NotNull());
mjsElement* attached_frame2 =
mjs_attach(world->element, child2_frame->element, "child-", "-2");
EXPECT_THAT(attached_frame2, NotNull());
// wrap the child frame in the parent frame and compile
mjModel* m_attached = mj_compile(parent, 0);
EXPECT_THAT(m_attached, NotNull());
EXPECT_NEAR(m_attached->site_quat[0], m_child1->site_quat[0], 1e-6);
EXPECT_NEAR(m_attached->site_quat[1], m_child1->site_quat[1], 1e-6);
EXPECT_NEAR(m_attached->site_quat[2], m_child1->site_quat[2], 1e-6);
EXPECT_NEAR(m_attached->site_quat[3], m_child1->site_quat[3], 1e-6);
EXPECT_NEAR(m_attached->site_quat[4], m_child2->site_quat[0], 1e-6);
EXPECT_NEAR(m_attached->site_quat[5], m_child2->site_quat[1], 1e-6);
EXPECT_NEAR(m_attached->site_quat[6], m_child2->site_quat[2], 1e-6);
EXPECT_NEAR(m_attached->site_quat[7], m_child2->site_quat[3], 1e-6);
mj_deleteSpec(parent);
mj_deleteSpec(child1);
mj_deleteModel(m_child1);
mj_deleteSpec(child2);
mj_deleteModel(m_child2);
mj_deleteModel(m_attached);
}
TEST_F(MujocoTest, CopyAttachedSpec) {
static constexpr char xml_parent[] = R"(
<mujoco>
<asset>
<model name="child" file="xml_child.xml"/>
</asset>
<worldbody>
<body name="parent">
<geom name="geom" size="2"/>
<attach model="child" body="body" prefix="other"/>
</body>
</worldbody>
</mujoco>
)";
static constexpr char xml_child[] = R"(
<mujoco>
<worldbody>
<body name="body">
<geom name="geom" size="1" pos="2 0 0"/>
</body>
</worldbody>
</mujoco>
)";
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
mj_addBufferVFS(vfs.get(), "xml_child.xml", xml_child, sizeof(xml_child));
std::array<char, 1024> er;
mjSpec* spec = mj_parseXMLString(xml_parent, vfs.get(), er.data(), er.size());
EXPECT_THAT(spec, NotNull()) << er.data();
mjModel* model = mj_compile(spec, vfs.get());
EXPECT_THAT(model, NotNull()) << er.data();
mjSpec* child = mjs_findSpec(spec, "child");
EXPECT_THAT(child, NotNull());
mjSpec* copy = mj_copySpec(spec);
EXPECT_THAT(copy, NotNull());
mjSpec* child_copy = mjs_findSpec(copy, "child");
EXPECT_THAT(child_copy, NotNull());
EXPECT_NE(child_copy, child);
mj_deleteSpec(spec);
mj_deleteSpec(copy);
mj_deleteModel(model);
mj_deleteVFS(vfs.get());
}
TEST_F(MujocoTest, ApplyNameSpaceToDefaults) {
static constexpr char xml_c[] = R"(
<mujoco>
<default>
<default class="mesh">
<mesh scale="0.001 0.001 0.001"/>
</default>
</default>
<asset>
<mesh file="cube.obj" class="mesh"/>
</asset>
<worldbody>
<body name="body">
<geom type="mesh" mesh="cube"/>
</body>
</worldbody>
</mujoco>)";
static constexpr char xml_p[] = R"(
<mujoco>
<worldbody>
<frame name="parent"/>
</worldbody>
</mujoco>
)";
static constexpr char cube[] = R"(
v -0.500000 -0.500000 0.500000
v 0.500000 -0.500000 0.500000
v -0.500000 0.500000 0.500000
v 0.500000 0.500000 0.500000
v -0.500000 0.500000 -0.500000
v 0.500000 0.500000 -0.500000
v -0.500000 -0.500000 -0.500000
v 0.500000 -0.500000 -0.500000)";
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
mj_addBufferVFS(vfs.get(), "cube.obj", cube, sizeof(cube));
std::array<char, 1024> err;
mjSpec* child = mj_parseXMLString(xml_c, vfs.get(), err.data(), err.size());
EXPECT_THAT(child, NotNull()) << err.data();
mjSpec* parent = mj_parseXMLString(xml_p, 0, err.data(), err.size());
EXPECT_THAT(parent, NotNull()) << err.data();
mjsElement* attached =
mjs_attach(mjs_findFrame(parent, "parent")->element,
mjs_findBody(child, "body")->element, "child-", "");
EXPECT_THAT(attached, NotNull());
mjModel* model = mj_compile(parent, vfs.get());
EXPECT_THAT(model, NotNull());
mj_deleteSpec(child);
mj_deleteSpec(parent);
mj_deleteModel(model);
mj_deleteVFS(vfs.get());
}
TEST_F(MujocoTest, DetachDefault) {
static constexpr char xml_c[] = R"(
<mujoco>
<default>
<default class="parent">
<default class="child1">
<mesh scale="0.001 0.001 0.001"/>
</default>
<default class="child2">
<mesh scale="0.001 0.001 0.001"/>
</default>
</default>
</default>
<asset>
<mesh file="cube.obj" class="child2"/>
</asset>
<worldbody>
<body name="body">
<geom type="mesh" mesh="cube"/>
</body>
</worldbody>
</mujoco>)";
static constexpr char cube[] = R"(
v -0.500000 -0.500000 0.500000
v 0.500000 -0.500000 0.500000
v -0.500000 0.500000 0.500000
v 0.500000 0.500000 0.500000
v -0.500000 0.500000 -0.500000
v 0.500000 0.500000 -0.500000
v -0.500000 -0.500000 -0.500000
v 0.500000 -0.500000 -0.500000)";
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
mj_addBufferVFS(vfs.get(), "cube.obj", cube, sizeof(cube));
std::array<char, 1024> err;
mjSpec* spec = mj_parseXMLString(xml_c, vfs.get(), err.data(), err.size());
EXPECT_THAT(spec, NotNull()) << err.data();
// get default
mjsDefault* child = mjs_findDefault(spec, "child1");
EXPECT_THAT(child, NotNull());
// delete default
EXPECT_EQ(mjs_delete(spec, child->element), 0);
child = mjs_findDefault(spec, "child1");
EXPECT_THAT(child, IsNull());
// try and detach previously detached default, should fail
EXPECT_EQ(mjs_delete(spec, nullptr), -1);
child = mjs_findDefault(spec, "child1");
EXPECT_THAT(child, IsNull());
// detach parent
mjsDefault* parent = mjs_findDefault(spec, "parent");
EXPECT_THAT(parent, NotNull());
mjs_delete(spec, parent->element);
// both parent and remaining child should be removed
parent = mjs_findDefault(spec, "parent");
EXPECT_THAT(parent, IsNull());
child = mjs_findDefault(spec, "child2");
EXPECT_THAT(child, IsNull());
// error when trying to detach the 'main' default
mjsDefault* main = mjs_findDefault(spec, "main");
EXPECT_THAT(main, NotNull());
EXPECT_EQ(mjs_delete(spec, main->element), -1);
EXPECT_THAT(mjs_getError(spec),
HasSubstr("cannot remove the global default ('main')"));
main = mjs_findDefault(spec, "main");
EXPECT_THAT(main, NotNull());
mj_deleteVFS(vfs.get());
mj_deleteSpec(spec);
}
TEST_F(MujocoTest, ErrorWhenCompilingOrphanedSpec) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body name="a"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> er;
mjSpec* child = mj_parseXMLString(xml, 0, er.data(), er.size());
EXPECT_THAT(child, NotNull()) << er.data();
mjSpec* parent = mj_makeSpec();
EXPECT_THAT(parent, NotNull());
mjsBody* body = mjs_findBody(child, "a");
EXPECT_THAT(body, NotNull());
mjsFrame* frame = mjs_addFrame(mjs_findBody(parent, "world"), nullptr);
EXPECT_THAT(frame, NotNull());
mjs_attach(frame->element, body->element, "child-", "");
mj_deleteSpec(parent);
mjModel* model = mj_compile(child, 0);
EXPECT_THAT(model, IsNull());
EXPECT_THAT(mjs_getError(child), HasSubstr("by reference to a parent"));
mj_deleteSpec(child);
}
TEST_F(MujocoTest, SetFrameReverseOrder) {
mjSpec* spec = mj_makeSpec();
mjsBody* world = mjs_findBody(spec, "world");
mjsFrame* child = mjs_addFrame(world, nullptr);
mjsFrame* parent = mjs_addFrame(world, nullptr);
mjs_setName(child->element, "child");
mjs_setName(parent->element, "parent");
mjs_setFrame(child->element, parent);
mjSpec* copy = mj_copySpec(spec);
EXPECT_THAT(copy, NotNull());
EXPECT_THAT(mjs_findFrame(copy, "child"), NotNull());
EXPECT_THAT(mjs_findFrame(copy, "parent"), NotNull());
mj_deleteSpec(spec);
mj_deleteSpec(copy);
}
TEST_F(MujocoTest, UserValue) {
mjSpec* spec = mj_makeSpec();
EXPECT_THAT(spec, NotNull());
mjsBody* body = mjs_addBody(mjs_findBody(spec, "world"), nullptr);
EXPECT_THAT(body, NotNull());
std::string data = "data";
mjs_setUserValue(body->element, "key", data.data());
EXPECT_THAT(mjs_getUserValue(body->element, "invalid_key"), IsNull());
const void* payload = mjs_getUserValue(body->element, "key");
EXPECT_STREQ(static_cast<const char*>(payload), data.c_str());
mjs_deleteUserValue(body->element, "key");
EXPECT_THAT(mjs_getUserValue(body->element, "key"), IsNull());
std::string* heap_data = new std::string("heap_data");
mjs_setUserValueWithCleanup(
body->element, "key", heap_data,
[](const void* data) { delete static_cast<const std::string*>(data); });
payload = mjs_getUserValue(body->element, "key");
EXPECT_STREQ(static_cast<const std::string*>(payload)->c_str(),
heap_data->c_str());
mj_deleteSpec(spec);
}
} // namespace
} // namespace mujoco