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mujoco / data /test /xml /xml_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 xml/xml_api.cc.
#include <array>
#include <cstddef>
#include <cstring>
#include <string>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mujoco.h>
#include <mujoco/mjspec.h>
#include "src/xml/xml_api.h"
#include "test/fixture.h"
namespace mujoco {
namespace {
using ::testing::IsNull;
using ::testing::NotNull;
using ::testing::StartsWith;
using ::testing::HasSubstr;
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint/>
<geom size="1"/>
</body>
<body>
<joint/>
<geom size="0.5"/>
</body>
</worldbody>
</mujoco>
)";
// ---------------------------- test mj_loadXML --------------------------------
using LoadXmlTest = MujocoTest;
TEST_F(LoadXmlTest, EmptyModel) {
static constexpr char xml[] = "<mujoco/>";
mjModel* model = LoadModelFromString(xml, 0, 0);
ASSERT_THAT(model, NotNull());
EXPECT_EQ(model->nq, 0);
EXPECT_EQ(model->nv, 0);
EXPECT_EQ(model->nu, 0);
EXPECT_EQ(model->na, 0);
EXPECT_EQ(model->nbody, 1); // worldbody exists even in empty model
mjData* data = mj_makeData(model);
EXPECT_THAT(data, NotNull());
mj_step(model, data);
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(LoadXmlTest, InvalidXmlFailsToLoad) {
static constexpr char invalid_xml[] = "<mujoc";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(invalid_xml, error.data(), error.size());
EXPECT_THAT(model, IsNull()) << "Expected model loading to fail.";
EXPECT_GT(std::strlen(error.data()), 0);
if (model) {
mj_deleteModel(model);
}
}
TEST_F(LoadXmlTest, MultipleBodies) {
std::array<char, 1000> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
EXPECT_EQ(model->nbody, 3);
mjData* data = mj_makeData(model);
EXPECT_THAT(data, NotNull());
mj_step(model, data);
mj_deleteData(data);
mj_deleteModel(model);
}
using SaveLastXmlTest = MujocoTest;
TEST_F(SaveLastXmlTest, EmptyModel) {
static constexpr char xml[] = "<mujoco/>";
mjModel* model = LoadModelFromString(xml, 0, 0);
mjData* data = mj_makeData(model);
std::array<char, 1024> error;
error.data()[0] = '\0';
testing::internal::CaptureStdout();
mj_saveLastXML(nullptr, model, error.data(), error.size());
EXPECT_THAT(testing::internal::GetCapturedStdout(), StartsWith("<mujoco"));
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(MujocoTest, SaveXmlShortString) {
std::array<char, 1000> error;
mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size());
EXPECT_THAT(spec, NotNull()) << "Failed to parse spec: " << error.data();
mjModel* model = mj_compile(spec, 0);
EXPECT_THAT(model, NotNull()) << "Failed to compile model: " << error.data();
std::array<char, 10> out;
EXPECT_THAT(mj_saveXMLString(spec, out.data(), out.size(),
error.data(), error.size()), 273);
EXPECT_STREQ(error.data(), "Output string too short, should be at least 274");
mj_deleteSpec(spec);
mj_deleteModel(model);
}
TEST_F(MujocoTest, SaveXml) {
std::array<char, 1000> error;
mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size());
EXPECT_THAT(spec, NotNull()) << "Failed to parse spec: " << error.data();
mjModel* model = mj_compile(spec, 0);
EXPECT_THAT(model, NotNull()) << "Failed to compile model: " << error.data();
std::array<char, 274> out;
EXPECT_THAT(mj_saveXMLString(NULL, out.data(), out.size(), error.data(),
error.size()), -1);
EXPECT_STREQ(error.data(), "Cannot write empty model");
EXPECT_THAT(mj_saveXMLString(spec, out.data(), out.size(), error.data(),
error.size()), 0) << error.data();
mjSpec* saved_spec = mj_parseXMLString(xml, 0, error.data(), error.size());
EXPECT_THAT(saved_spec, NotNull()) << "Invalid saved spec: " << error.data();
mjModel* saved_model = mj_compile(saved_spec, 0);
EXPECT_THAT(saved_model, NotNull()) << "Invalid model: " << error.data();
mj_deleteSpec(spec);
mj_deleteSpec(saved_spec);
mj_deleteModel(model);
mj_deleteModel(saved_model);
}
TEST_F(MujocoTest, SaveXmlWithDefaultMesh) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<mesh inertia="shell"/>
</default>
<asset>
<mesh name="test_mesh" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
</asset>
<worldbody>
<body>
<geom mesh="test_mesh" type="mesh"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size());
EXPECT_THAT(spec, NotNull()) << "Failed to parse spec: " << error.data();
mjModel* model = mj_compile(spec, 0);
EXPECT_THAT(model, NotNull()) << "Failed to compile model: " << error.data();
std::array<char, 1024> out;
EXPECT_THAT(mj_saveXMLString(spec, out.data(), out.size(), error.data(),
error.size()), 0) << error.data();
mjSpec* saved_spec = mj_parseXMLString(xml, 0, error.data(), error.size());
EXPECT_THAT(saved_spec, NotNull()) << "Invalid saved spec: " << error.data();
mjModel* saved_model = mj_compile(saved_spec, 0);
EXPECT_THAT(saved_model, NotNull()) << "Invalid model: " << error.data();
// check that the mesh has inertia="shell"
EXPECT_THAT(out.data(), HasSubstr(R"(<mesh inertia="shell"/>)"));
mj_deleteSpec(spec);
mj_deleteSpec(saved_spec);
mj_deleteModel(model);
mj_deleteModel(saved_model);
}
TEST_F(MujocoTest, FreeLastXml) {
static constexpr char xml[] = "<mujoco/>";
mjModel* model = LoadModelFromString(xml, 0, 0);
ASSERT_THAT(model, NotNull());
mj_deleteModel(model);
ASSERT_NE(mj_saveLastXML(nullptr, nullptr, nullptr, 0), 0);
mj_freeLastXML();
ASSERT_EQ(mj_saveLastXML(nullptr, nullptr, nullptr, 0), 0);
}
} // namespace
} // namespace mujoco