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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_native_reader.cc.
#include <array>
#include <cmath>
#include <limits>
#include <memory>
#include <string>
#include <vector>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjspec.h>
#include <mujoco/mujoco.h>
#include "src/cc/array_safety.h"
#include "src/engine/engine_util_errmem.h"
#include "src/xml/xml_api.h"
#include "test/fixture.h"
namespace mujoco {
namespace {
using ::std::string;
using ::testing::AllOf;
using ::testing::ElementsAre;
using ::testing::Eq;
using ::testing::FloatEq;
using ::testing::HasSubstr;
using ::testing::IsNan;
using ::testing::IsNull;
using ::testing::NotNull;
using XMLReaderTest = MujocoTest;
TEST_F(XMLReaderTest, UniqueElementTest) {
std::array<char, 1024> error;
static constexpr char xml[] = R"(
<mujoco>
<option>
<flag sensor="disable"/>
<flag sensor="disable"/>
</option>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("unique element 'flag' found 2 times"));
}
TEST_F(XMLReaderTest, MemorySize) {
std::array<char, 1024> error;
{
static constexpr char xml[] = R"(
<mujoco>
<size memory="512"/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(model->narena, 512);
mj_deleteModel(model);
}
{
static constexpr char xml[] = R"(
<mujoco>
<size memory="1K "/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(model->narena, 1024);
mj_deleteModel(model);
}
{
static constexpr char xml[] = R"(
<mujoco>
<size memory=" 10K"/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(model->narena, 10240);
mj_deleteModel(model);
}
{
static constexpr char xml[] = R"(
<mujoco>
<size memory=" 4M "/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(model->narena, 4*1024*1024);
mj_deleteModel(model);
}
{
static constexpr char xml[] = R"(
<mujoco>
<size memory="1G"/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(model->narena, 1024*1024*1024);
mj_deleteModel(model);
}
{
static constexpr char xml[] = R"(
<mujoco>
<size memory="1073741824"/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(model->narena, 1024*1024*1024);
mj_deleteModel(model);
}
}
TEST_F(XMLReaderTest, InvalidMemorySize) {
std::array<char, 1024> error;
{
static constexpr char xml[] = R"(
<mujoco>
<size memory="-3"/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
}
{
static constexpr char xml[] = R"(
<mujoco>
<size memory="1 M"/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
}
{
static constexpr char xml[] = R"(
<mujoco>
<size memory="2X"/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
}
{
static constexpr char xml[] = R"(
<mujoco>
<size memory="K"/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
}
}
TEST_F(XMLReaderTest, InvalidNUserBody) {
static constexpr char xml[] = R"(
<mujoco>
<size nuser_body="-2"/>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("nuser_body"));
EXPECT_THAT(error.data(), HasSubstr("line 3"));
}
TEST_F(XMLReaderTest, InvalidNUserJoint) {
static constexpr char xml[] = R"(
<mujoco>
<size nuser_jnt="-2"/>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("nuser_jnt"));
EXPECT_THAT(error.data(), HasSubstr("line 3"));
}
TEST_F(XMLReaderTest, InvalidNUserGeom) {
static constexpr char xml[] = R"(
<mujoco>
<size nuser_geom="-2"/>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("nuser_geom"));
EXPECT_THAT(error.data(), HasSubstr("line 3"));
}
TEST_F(XMLReaderTest, InvalidNUserSite) {
static constexpr char xml[] = R"(
<mujoco>
<size nuser_site="-2"/>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("nuser_site"));
EXPECT_THAT(error.data(), HasSubstr("line 3"));
}
TEST_F(XMLReaderTest, InvalidNUserCamera) {
static constexpr char xml[] = R"(
<mujoco>
<size nuser_cam="-2"/>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("nuser_cam"));
EXPECT_THAT(error.data(), HasSubstr("line 3"));
}
TEST_F(XMLReaderTest, InvalidNUserTendon) {
static constexpr char xml[] = R"(
<mujoco>
<size nuser_tendon="-2"/>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("nuser_tendon"));
EXPECT_THAT(error.data(), HasSubstr("line 3"));
}
TEST_F(XMLReaderTest, InvalidNUserActuator) {
static constexpr char xml[] = R"(
<mujoco>
<size nuser_actuator="-2"/>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("nuser_actuator"));
EXPECT_THAT(error.data(), HasSubstr("line 3"));
}
TEST_F(XMLReaderTest, InvalidNUserSensor) {
static constexpr char xml[] = R"(
<mujoco>
<size nuser_sensor="-2"/>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("nuser_sensor"));
EXPECT_THAT(error.data(), HasSubstr("line 3"));
}
TEST_F(XMLReaderTest, CanParseInf) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1" pos="5e-1 -INF iNf"/>
<geom size="1" pos="inF -inf Inf"/>
</body>
</worldbody>
</mujoco>
)";
const double inf = std::numeric_limits<double>::infinity();
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
EXPECT_EQ(model->geom_pos[0], 0.5);
EXPECT_EQ(model->geom_pos[1], -inf);
EXPECT_THAT(model->geom_pos[2], inf);
EXPECT_EQ(model->geom_pos[3], inf);
EXPECT_EQ(model->geom_pos[4], -inf);
EXPECT_EQ(model->geom_pos[5], inf);
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, CanParseNanAndRaisesWarning) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1" pos="nan NaN NAN"/>
<geom size="1" pos="1.0 0.0 nAn"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
static char warning[1024];
warning[0] = '\0';
mju_user_warning = [](const char* msg) {
util::strcpy_arr(warning, msg);
};
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
EXPECT_THAT(warning, HasSubstr("XML contains a 'NaN'"));
EXPECT_THAT(model->geom_pos[0], IsNan());
EXPECT_THAT(model->geom_pos[1], IsNan());
EXPECT_THAT(model->geom_pos[2], IsNan());
EXPECT_EQ(model->geom_pos[3], 1);
EXPECT_EQ(model->geom_pos[4], 0);
EXPECT_THAT(model->geom_pos[5], IsNan());
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, InvalidArrayElement) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1" axisangle="1.0 0.0 0.0 [[1]]"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("bad format in attribute 'axisangle'"));
EXPECT_THAT(error.data(), HasSubstr("line 5"));
}
TEST_F(XMLReaderTest, InvalidArrayLength) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1" axisangle="1 0 0 0 1"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("has too much data"));
EXPECT_THAT(error.data(), HasSubstr("line 5"));
}
TEST_F(XMLReaderTest, InvalidQuaternion) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1" quat="0 0 0 0"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("zero quaternion is not allowed"));
EXPECT_THAT(error.data(), HasSubstr("line 5"));
}
TEST_F(XMLReaderTest, InvalidNumber) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1" axisangle="1 0.1.2.3"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("bad format in attribute 'axisangle'"));
EXPECT_THAT(error.data(), HasSubstr("line 5"));
}
TEST_F(XMLReaderTest, InvalidNumberRange) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="mesh" file="mesh.stl" face="100000000000000000000000"/>
</asset>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(),
HasSubstr("number is too large in attribute 'face'"));
EXPECT_THAT(error.data(), HasSubstr("line 4"));
}
TEST_F(XMLReaderTest, InvalidNumberOfAttributes) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body pos="0 0 .3">
<freejoint/>
<geom name="ellipsoid" type="ellipsoid" size=".1 .1"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("size 2 must be positive"));
EXPECT_THAT(error.data(), HasSubstr("line 6"));
}
TEST_F(XMLReaderTest, AllowsSpaces) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1" axisangle="1 0 0 0 "/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, InvalidDoubleOrientation) {
std::string prefix = "<mujoco><worldbody><";
std::string suffix = "/></worldbody></mujoco>";
std::vector<std::string> orientations = {
R"( quat="0 1 0 0" )",
R"( euler="1.7 2.9 0.1" )",
R"( zaxis="1.7 2.9 0.1" )",
R"( axisangle="1.7 2.9 0.1 0" )",
R"( xyaxes="1.7 2.9 0.1 0.4 1.4 0.6" )",
};
std::vector<std::string> fields = {
"geom", "body", "camera", "site"
};
for (auto const& field : fields) {
for (auto const& orient1 : orientations) {
for (auto const& orient2 : orientations) {
if (orient1 == orient2) continue;
std::string xml = prefix + field + orient1 + orient2 + suffix;
std::array<char, 1024> error;
mjModel* model =
LoadModelFromString(xml.c_str(), error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(
error.data(),
HasSubstr("multiple orientation specifiers are not allowed"));
}
}
}
}
TEST_F(XMLReaderTest, ClassOverridesChildclass) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<default class="size2">
<geom size="2"/>
</default>
<default class="size3">
<geom size="3"/>
</default>
</default>
<worldbody>
<frame childclass="size2">
<geom/>
<geom class="size3"/>
<body childclass="size2">
<geom/>
<geom class="size3"/>
</body>
</frame>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(model->geom_size[3*0], 2);
EXPECT_EQ(model->geom_size[3*1], 3);
EXPECT_EQ(model->geom_size[3*2], 2);
EXPECT_EQ(model->geom_size[3*3], 3);
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, RepeatedDefaultName) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<default class="sphere">
<geom type="sphere" size="1"/>
</default>
<default class="sphere">
<geom type="capsule" size="1 1"/>
</default>
</default>
<worldbody>
<body>
<geom class="sphere"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull()) << error.data();
EXPECT_THAT(error.data(), HasSubstr("repeated default class name"));
}
TEST_F(XMLReaderTest, InvalidDefaultClassName) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<default class="sphere">
<geom type="sphere" size="1"/>
</default>
</default>
<worldbody>
<body>
<geom class="invalid"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull()) << error.data();
EXPECT_THAT(error.data(),
AllOf(HasSubstr("unknown default class name 'invalid'"),
HasSubstr("Element 'geom'"), HasSubstr("line 10")));
}
TEST_F(XMLReaderTest, InvalidTopDefaultClassName) {
static constexpr char xml[] = R"(
<mujoco>
<default class="sphere">
<geom type="sphere" size="1"/>
</default>
<worldbody>
<body>
<geom class="sphere"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull()) << error.data();
EXPECT_THAT(error.data(),
HasSubstr("top-level default class 'main' cannot be renamed"));
}
TEST_F(XMLReaderTest, ValidTopDefaultClassName) {
static constexpr char xml[] = R"(
<mujoco>
<default class="main">
<geom type="sphere" size="1"/>
</default>
<worldbody>
<body>
<geom class="main"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
mj_deleteModel(model);
}
// ------------------------ test including -------------------------------------
// tiny RGB 2 x 3 PNG file
static constexpr unsigned char kTinyPng[] = {
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
};
// mesh OBJ file of a cube
static constexpr char kTinyObj[] = 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)";
TEST_F(XMLReaderTest, IncludeTest) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<geom name="plane" type="plane" size="1 1 1"/>
<include file="model1.xml"/>
<include file="model2.xml"/>
</worldbody>
</mujoco>)";
static constexpr char xml1[] = R"(
<mujoco>
<geom name="box" type="box" size="1 1 1"/>
</mujoco>)";
static constexpr char xml2[]= R"(
<mujoco>
<geom name="ball" type="sphere" size="2"/>
<include file="model3.xml"/>
</mujoco>)";
static constexpr char xml3[]= R"(
<mujoco>
<geom name="another_box" type="box" size="2 2 2"/>
</mujoco>)";
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
mj_addBufferVFS(vfs.get(), "model1.xml", xml1, sizeof(xml1));
mj_addBufferVFS(vfs.get(), "model2.xml", xml2, sizeof(xml2));
mj_addBufferVFS(vfs.get(), "model3.xml", xml3, sizeof(xml3));
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(),
error.size(), vfs.get());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(mj_name2id(model, mjOBJ_GEOM, "ball"), 2);
EXPECT_EQ(mj_name2id(model, mjOBJ_GEOM, "another_box"), 3);
mj_deleteModel(model);
mj_deleteVFS(vfs.get());
}
TEST_F(XMLReaderTest, IncludeChildTest) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<geom name="plane" type="plane" size="1 1 1"/>
<include file="model1.xml">
<geom name="box" type="box" size="1 1 1"/>
</include>
</worldbody>
</mujoco>)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("Include element cannot have children"));
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, IncludeSameFileTest) {
static constexpr char xml[] = R"(
<mujoco>
<include file="model1.xml"/>
<include file="model1.xml"/>
</mujoco>)";
static constexpr char xml1[] = R"(
<mujoco>
<geom name="box" type="box" size="1 1 1"/>
</mujoco>)";
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
mj_addBufferVFS(vfs.get(), "model1.xml", xml1, sizeof(xml1));
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size(),
vfs.get());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("File 'model1.xml' already included"));
mj_deleteModel(model);
mj_deleteVFS(vfs.get());
}
TEST_F(XMLReaderTest, IncludePathTest) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<geom name="plane" type="plane" size="1 1 1"/>
<include file="submodels/model1.xml"/>
<include file="submodels/model2.xml"/>
</worldbody>
</mujoco>)";
static constexpr char xml1[] = R"(
<mujoco>
<geom name="box" type="box" size="1 1 1"/>
</mujoco>)";
static constexpr char xml2[]= R"(
<mujoco>
<geom name="ball" type="sphere" size="2"/>
<include file="subsubmodels/model3.xml"/>
</mujoco>)";
static constexpr char xml3[]= R"(
<mujoco>
<geom name="another_box" type="box" size="2 2 2"/>
</mujoco>)";
mjVFS vfs;
mj_defaultVFS(&vfs);
mj_addBufferVFS(&vfs, "model.xml", xml, sizeof(xml));
mj_addBufferVFS(&vfs, "submodels/model1.xml", xml1, sizeof(xml1));
mj_addBufferVFS(&vfs, "submodels/model2.xml", xml2, sizeof(xml2));
mj_addBufferVFS(&vfs, "submodels/subsubmodels/model3.xml", xml3,
sizeof(xml3));
std::array<char, 1024> error;
mjModel* model = mj_loadXML("model.xml", &vfs, error.data(),
error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(mj_name2id(model, mjOBJ_GEOM, "ball"), 2);
EXPECT_EQ(mj_name2id(model, mjOBJ_GEOM, "another_box"), 3);
mj_deleteModel(model);
mj_deleteVFS(&vfs);
}
TEST_F(XMLReaderTest, FallbackIncludePathTest) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<geom name="plane" type="plane" size="1 1 1"/>
<include file="model1.xml"/>
<include file="submodels/model2.xml"/>
</worldbody>
</mujoco>)";
static constexpr char xml1[] = R"(
<mujoco>
<geom name="box" type="box" size="1 1 1"/>
</mujoco>)";
static constexpr char xml2[]= R"(
<mujoco>
<geom name="ball" type="sphere" size="2"/>
<include file="subsubmodels/model3.xml"/>
</mujoco>)";
static constexpr char xml3[]= R"(
<mujoco>
<geom name="another_box" type="box" size="2 2 2"/>
</mujoco>)";
mjVFS vfs;
mj_defaultVFS(&vfs);
mj_addBufferVFS(&vfs, "model.xml", xml, sizeof(xml));
mj_addBufferVFS(&vfs, "model1.xml", xml1, sizeof(xml1));
mj_addBufferVFS(&vfs, "submodels/model2.xml", xml2, sizeof(xml2));
mj_addBufferVFS(&vfs, "subsubmodels/model3.xml", xml3, sizeof(xml3));
std::array<char, 1024> error;
mjModel* model = mj_loadXML("model.xml", &vfs,
error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(mj_name2id(model, mjOBJ_GEOM, "ball"), 2);
EXPECT_EQ(mj_name2id(model, mjOBJ_GEOM, "another_box"), 3);
mj_deleteModel(model);
mj_deleteVFS(&vfs);
}
TEST_F(XMLReaderTest, MaterialTextureTest) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<texture file="tiny0.png" type="2d" name="tiny0"/>
<texture file="tiny1.png" type="2d" name="tiny1"/>
<material name="material">
<layer role="occlusion" texture="tiny0"/>
<layer role="roughness" texture="tiny0"/>
<layer role="metallic" texture="tiny0"/>
<layer role="rgb" texture="tiny1"/>
</material>
</asset>
<worldbody>
<geom type="plane" material="material" size="4 4 4"/>
</worldbody>
</mujoco>
)";
mjVFS vfs;
mj_defaultVFS(&vfs);
mj_addBufferVFS(&vfs, "tiny0.png", kTinyPng, sizeof(kTinyPng));
mj_addBufferVFS(&vfs, "tiny1.png", kTinyPng, sizeof(kTinyPng));
mj_addBufferVFS(&vfs, "model.xml", xml, sizeof(xml));
char error[1024];
mjModel* model = mj_loadXML("model.xml", &vfs, error, 1024);
EXPECT_THAT(model, NotNull()) << error;
EXPECT_EQ(model->mat_texid[mjTEXROLE_RGB], 1);
EXPECT_EQ(model->mat_texid[mjTEXROLE_METALLIC], 0);
EXPECT_EQ(model->mat_texid[mjTEXROLE_ROUGHNESS], 0);
EXPECT_EQ(model->mat_texid[mjTEXROLE_OCCLUSION], 0);
mj_deleteModel(model);
mj_deleteVFS(&vfs);
}
TEST_F(XMLReaderTest, LegacyMaterialTextureTest) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<texture file="tiny0.png" type="2d" name="tiny0"/>
<texture file="tiny1.png" type="2d" name="tiny1"/>
<material name="material" texture="tiny1"/>
</asset>
<worldbody>
<geom type="plane" material="material" size="4 4 4"/>
</worldbody>
</mujoco>
)";
mjVFS vfs;
mj_defaultVFS(&vfs);
mj_addBufferVFS(&vfs, "tiny0.png", kTinyPng, sizeof(kTinyPng));
mj_addBufferVFS(&vfs, "tiny1.png", kTinyPng, sizeof(kTinyPng));
mj_addBufferVFS(&vfs, "model.xml", xml, sizeof(xml));
char error[1024];
mjModel* model = mj_loadXML("model.xml", &vfs, error, 1024);
EXPECT_THAT(model, NotNull()) << error;
EXPECT_EQ(model->mat_texid[mjTEXROLE_RGB], 1);
mj_deleteModel(model);
mj_deleteVFS(&vfs);
}
TEST_F(XMLReaderTest, MaterialTextureFailTest) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<texture file="tiny0.png" type="2d" name="tiny0"/>
<texture file="tiny1.png" type="2d" name="tiny1"/>
<material name="material" texture="tiny1">
<layer role="rgb" texture="tiny1"/>
<layer role="occlusion" texture="tiny0"/>
</material>
</asset>
<worldbody>
<geom type="plane" material="material" size="4 4 4"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, IsNull());
EXPECT_THAT(error.data(), HasSubstr("A material with a texture attribute "
"cannot have layer sub-elements"));
}
TEST_F(XMLReaderTest, LargeTextureTest) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<!--
Use a texture width that exceeds the size representable by an int.
For cube textures, the height is ignored and set to width*6.
The default number of channels is 3.
The width in this test is chosen so that 6*width*width*3 is too large to
be represented as a 32-bit integer.
-->
<texture name="tex" builtin="gradient" width="10923" height="2"/>
</asset>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, NotNull());
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, IncludeAssetsTest) {
static constexpr char xml[] = R"(
<mujoco>
<include file="assets/assets.xml"/>
<worldbody>
<geom type="plane" material="material" size="4 4 4"/>
</worldbody>
</mujoco>
)";
static constexpr char assets[] = R"(
<mujoco>
<asset>
<texture file="tiny.png" type="2d"/>
<material name="material" texture="tiny"/>
<include file="subassets/assets.xml"/>
</asset>
</mujoco>
)";
static constexpr char subassets[] = R"(
<mujoco>
<texture file="subtiny.png" type="2d"/>
<mesh name="cube" file="cube.obj"/>
<material name="submaterial" texture="subtiny"/>
</mujoco>
)";
mjVFS vfs;
mj_defaultVFS(&vfs);
mj_addBufferVFS(&vfs, "assets/tiny.png", kTinyPng, sizeof(kTinyPng));
mj_addBufferVFS(&vfs, "assets/subassets/subtiny.png", kTinyPng,
sizeof(kTinyPng));
mj_addBufferVFS(&vfs, "assets/subassets/cube.obj", kTinyObj,
sizeof(kTinyObj));
mj_addBufferVFS(&vfs, "assets/assets.xml", assets, sizeof(assets));
mj_addBufferVFS(&vfs, "assets/subassets/assets.xml", subassets,
sizeof(subassets));
mj_addBufferVFS(&vfs, "model.xml", xml, sizeof(xml));
// loading the file should be successful
std::array<char, 1024> error;
mjModel* model = mj_loadXML("model.xml", &vfs, error.data(),
error.size());
ASSERT_THAT(model, NotNull()) << error.data();
mj_deleteModel(model);
mj_deleteVFS(&vfs);
}
TEST_F(XMLReaderTest, FallbackIncludeAssetsTest) {
static constexpr char xml[] = R"(
<mujoco>
<include file="assets/assets.xml"/>
<worldbody>
<geom type="plane" material="material" size="4 4 4"/>
</worldbody>
</mujoco>
)";
static constexpr char assets[] = R"(
<mujoco>
<asset>
<texture file="tiny.png" type="2d"/>
<material name="material" texture="tiny"/>
<include file="subassets/assets.xml"/>
</asset>
</mujoco>
)";
static constexpr char subassets[] = R"(
<mujoco>
<texture file="subtiny.png" type="2d"/>
<material name="submaterial" texture="subtiny"/>
</mujoco>
)";
mjVFS vfs;
mj_defaultVFS(&vfs);
mj_addBufferVFS(&vfs, "assets/tiny.png", kTinyPng, sizeof(kTinyPng));
// need to fallback for backwards compatibility
mj_addBufferVFS(&vfs, "subtiny.png", kTinyPng, sizeof(kTinyPng));
mj_addBufferVFS(&vfs, "assets/assets.xml", assets, sizeof(assets));
mj_addBufferVFS(&vfs, "assets/subassets/assets.xml", subassets,
sizeof(subassets));
mj_addBufferVFS(&vfs, "model.xml", xml, sizeof(xml));
// loading the file should be successful
std::array<char, 1024> error;
mjModel* model = mj_loadXML("model.xml", &vfs,
error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
mj_deleteModel(model);
mj_deleteVFS(&vfs);
}
TEST_F(XMLReaderTest, IncludeAbsoluteTest) {
static constexpr char xml[] = R"(
<mujoco>
<include file="assets/assets.xml"/>
<worldbody>
<geom type="plane" material="material" size="4 4 4"/>
</worldbody>
</mujoco>
)";
static constexpr char assets[] = R"(
<mujoco>
<asset>
<texture file="tiny.png" type="2d"/>
<material name="material" texture="tiny"/>
<include file="subassets/assets.xml"/>
</asset>
</mujoco>
)";
static constexpr char subassets[] = R"(
<mujoco>
<texture file="MjMock.IncludeAbsoluteTest:assets/subtiny.png" type="2d"/>
<material name="submaterial" texture="subtiny"/>
</mujoco>
)";
MockFilesystem fs("IncludeAbsoluteTest");
fs.AddFile("assets/tiny.png", kTinyPng, sizeof(kTinyPng));
fs.AddFile("assets/subtiny.png", kTinyPng, sizeof(kTinyPng));
fs.AddFile("assets/assets.xml", (const unsigned char*) assets,
sizeof(assets));
fs.AddFile("assets/subassets/assets.xml", (const unsigned char*) subassets,
sizeof(subassets));
fs.AddFile("model.xml", (const unsigned char*) xml, sizeof(xml));
std::string modelpath = fs.FullPath("model.xml");
std::array<char, 1024> error;
// loading the file should be successful
mjModel* model = mj_loadXML(modelpath.c_str(), nullptr,
error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, IncludeAbsoluteMeshDirTest) {
static constexpr char xml[] = R"(
<mujoco>
<include file="assets.xml"/>
</mujoco>
)";
static constexpr char assets[] = R"(
<mujoco>
<compiler meshdir="mjMock.IncludeAbsoluteMeshDirTest:/assets"/>
<asset>
<mesh file="cube.obj"/>
</asset>
</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)";
MockFilesystem fs("IncludeAbsoluteMeshDirTest");
fs.AddFile("/assets/cube.obj", (const unsigned char*) cube, sizeof(cube));
fs.AddFile("assets.xml", (const unsigned char*) assets,
sizeof(assets));
fs.AddFile("model.xml", (const unsigned char*) xml, sizeof(xml));
std::string modelpath = fs.FullPath("model.xml");
std::array<char, 1024> error;
// loading the file should be successful
mjModel* model = mj_loadXML(modelpath.c_str(), nullptr,
error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, ParsePolycoef) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="0"/>
<geom size="1"/>
</body>
<body>
<joint name="1"/>
<geom size="1"/>
</body>
</worldbody>
<equality>
<joint joint1="0" joint2="1"/>
<joint joint1="0" joint2="1" polycoef="2"/>
<joint joint1="0" joint2="1" polycoef="3 4"/>
<joint joint1="0" joint2="1" polycoef="5 6 7 8 9"/>
</equality>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, NotNull()) << error.data();
EXPECT_THAT(AsVector(m->eq_data + 0*mjNEQDATA, 5),
ElementsAre(0, 1, 0, 0, 0));
EXPECT_THAT(AsVector(m->eq_data + 1*mjNEQDATA, 5),
ElementsAre(2, 1, 0, 0, 0));
EXPECT_THAT(AsVector(m->eq_data + 2*mjNEQDATA, 5),
ElementsAre(3, 4, 0, 0, 0));
EXPECT_THAT(AsVector(m->eq_data + 3*mjNEQDATA, 5),
ElementsAre(5, 6, 7, 8, 9));
mj_deleteModel(m);
}
TEST_F(XMLReaderTest, TendonArmature) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<site name="a"/>
<body pos="1 0 0">
<joint name="slide" type="slide"/>
<geom size=".1"/>
<site name="b"/>
</body>
</worldbody>
<tendon>
<spatial armature="1.5">
<site site="a"/>
<site site="b"/>
</spatial>
<fixed armature="2.5">
<joint joint="slide" coef="1"/>
</fixed>
<fixed>
<joint joint="slide" coef="2"/>
</fixed>
</tendon>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, NotNull()) << error.data();
EXPECT_EQ(m->ntendon, 3);
EXPECT_FLOAT_EQ(m->tendon_armature[0], 1.5);
EXPECT_FLOAT_EQ(m->tendon_armature[1], 2.5);
EXPECT_FLOAT_EQ(m->tendon_armature[2], 0);
mj_deleteModel(m);
}
TEST_F(XMLReaderTest, TendonArmatureNegative) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<site name="a"/>
<site name="b" pos="1 0 0"/>
</worldbody>
<tendon>
<spatial armature="-1.5">
<site site="a"/>
<site site="b"/>
</spatial>
</tendon>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, IsNull());
EXPECT_THAT(error.data(), HasSubstr("tendon armature cannot be negative"));
}
TEST_F(XMLReaderTest, TendonArmatureGeomWrap) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<site name="a"/>
<geom name="g" type="sphere" size=".1"/>
<site name="b" pos="1 0 0"/>
</worldbody>
<tendon>
<spatial armature="1.5">
<site site="a"/>
<geom geom="g"/>
<site site="b"/>
</spatial>
</tendon>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, IsNull());
EXPECT_THAT(error.data(), HasSubstr("geom wrapping not supported"));
}
// ------------------------ test frame parsing ---------------------------------
TEST_F(XMLReaderTest, ParseFrame) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<default class="frame">
<geom size=".1"/>
</default>
<default class="body">
<geom size=".2"/>
</default>
<default class="geom">
<geom size=".3"/>
</default>
</default>
<worldbody>
<frame euler="0 0 30">
<geom size=".5" euler="0 0 20"/>
</frame>
<body>
<frame pos="0 1 0" childclass="frame">
<geom pos="0 1 0"/>
<body pos="1 0 0" childclass="body">
<geom pos="0 0 1"/>
<geom pos="0 0 1" class="geom"/>
</body>
</frame>
</body>
<frame euler="0 0 30">
<frame euler="0 0 20">
<geom size=".6"/>
</frame>
</frame>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, NotNull()) << error.data();
EXPECT_THAT(m->geom_size[ 0], .5);
EXPECT_THAT(m->geom_size[ 3], .6);
EXPECT_THAT(m->geom_size[ 6], .1);
EXPECT_THAT(m->geom_size[ 9], .2);
EXPECT_THAT(m->geom_size[12], .3);
mj_deleteModel(m);
}
TEST_F(XMLReaderTest, DuplicateFrameName) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<frame name="frame1" euler="0 0 30">
<geom size=".1"/>
</frame>
<frame name="frame1" euler="0 0 30">
<geom size=".1"/>
</frame>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, IsNull()) << error.data();
EXPECT_THAT(error.data(), HasSubstr("repeated name 'frame1'"));
}
// ---------------------- test replicate parsing -------------------------------
TEST_F(XMLReaderTest, ParseReplicate) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<texture name="texture" type="2d" builtin="checker" width="32" height="32"/>
<material name="material" texture="texture" texrepeat="1 1" texuniform="true"/>
</asset>
<worldbody>
<replicate count="101" offset="3 0 .1" euler="0 0 1.8">
<body name="body" pos="0 -1 0">
<joint type="slide"/>
<geom name="g" size="1"/>
</body>
</replicate>
<replicate count="2" offset="1 0 0">
<replicate count="2" offset="0 1 0" sep="_">
<geom name="geom" size="1" pos="0 0 1" material="material"/>
<site name="site" pos="1 0 0"/>
</replicate>
</replicate>
</worldbody>
<sensor>
<framepos name="sensor" objtype="site" objname="site"/>
</sensor>
<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, 105);
EXPECT_THAT(m->nsensor, 4);
EXPECT_THAT(m->nbody, 102);
// check that the separator is used correctly
for (int i = 0; i < 2; ++i) {
for (int j = 0; j < 2; ++j) {
char geom_name[mjMAXUINAME] = "";
util::strcat_arr(geom_name, m->names + m->name_geomadr[2*i+j]);
EXPECT_THAT(m->geom_pos[6*i+3*j+0], i);
EXPECT_THAT(m->geom_pos[6*i+3*j+1], j);
EXPECT_THAT(m->geom_pos[6*i+3*j+2], 1);
EXPECT_THAT(std::string(geom_name),
"geom_" + std::to_string(j) + std::to_string(i));
}
}
// check that 3 digits are used if count > 99
for (int i = 0; i < 2; ++i) {
for (int j = 0; j < 10; ++j) {
for (int k = 0; k < 10; ++k) {
int ngeom = 100*i+10*j+k;
if (ngeom > 99) break;
char geom_name[mjMAXUINAME] = "";
util::strcat_arr(geom_name, m->names + m->name_geomadr[4+ngeom]);
EXPECT_THAT(
std::string(geom_name),
"g" + std::to_string(i) + std::to_string(j) + std::to_string(k));
}
}
}
// check body positions
mjtNum pos[2] = {0, 0};
for (int i = 1; i < 102; ++i) {
mjtNum theta = (i-1) * 1.8 * mjPI / 180;
EXPECT_NEAR(m->body_pos[3*i+0], pos[0] + sin(theta), 1e-8) << i;
EXPECT_NEAR(m->body_pos[3*i+1], pos[1] - cos(theta), 1e-8) << i;
EXPECT_NEAR(m->body_pos[3*i+2], (i-1) * .1, 1e-8);
pos[0] += 3 * cos(theta);
pos[1] += 3 * sin(theta);
}
// check that the final pose is correct
int n = m->nbody-1;
EXPECT_NEAR(m->body_quat[4*n+0], 0, 1e-8);
EXPECT_EQ(m->body_quat[4*n+1], 0);
EXPECT_EQ(m->body_quat[4*n+2], 0);
EXPECT_EQ(m->body_quat[4*n+3], 1);
// check that the keyframe is resized
EXPECT_THAT(m->nkey, 102);
EXPECT_THAT(m->nq, 101);
for (int i = 0; i < m->nkey; i++) {
for (int j = 0; j < m->nq; j++) {
EXPECT_THAT(m->key_qpos[i*m->nq+j], i == j ? 1 : 0) << i << " " << j;
}
}
mj_deleteModel(m);
}
TEST_F(XMLReaderTest, ParseReplicatePartialReference) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<geom name="floor" type="plane" size="1 1 1"/>
<site name="world"/>
<replicate count="2" offset="1 0 0">
<body name="replicated">
<freejoint/>
<site name="replicated"/>
<geom name="replicated" size="1"/>
</body>
</replicate>
</worldbody>
<contact>
<pair geom1="floor" geom2="replicated" condim="1"/>
<exclude body1="world" body2="replicated" />
</contact>
<tendon>
<spatial>
<site site="world"/>
<site site="replicated"/>
</spatial>
</tendon>
<sensor>
<framepos name="sensor" objtype="site" objname="replicated" reftype="site" refname="world"/>
</sensor>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, testing::NotNull()) << error.data();
EXPECT_THAT(m->nbody, 3);
EXPECT_THAT(m->ngeom, 3);
EXPECT_THAT(m->npair, 2);
EXPECT_THAT(m->nexclude, 2);
EXPECT_THAT(m->ntendon, 2);
EXPECT_THAT(m->nsensor, 2);
mj_deleteModel(m);
}
TEST_F(XMLReaderTest, ParseReplicateDefaultPropagate) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<default class="body">
<geom type="capsule"/>
</default>
</default>
<worldbody>
<replicate count="2" euler="0 0 16.36" sep="-">
<body name="torso" pos="-5 0 1.282" childclass="body">
<body name="head" pos="0 0 .19">
<geom name="head" type="sphere" size=".09"/>
</body>
</body>
</replicate>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size());
EXPECT_THAT(spec, NotNull()) << error.data();
mjsBody* torso = mjs_findBody(spec, "torso-0");
EXPECT_THAT(torso, NotNull());
mjsDefault* def = mjs_getDefault(torso->element);
EXPECT_THAT(def, NotNull());
EXPECT_THAT(def->geom->type, mjGEOM_CAPSULE);
mjsBody* head = mjs_findBody(spec, "head-0");
EXPECT_THAT(head, NotNull());
def = mjs_getDefault(head->element);
EXPECT_THAT(def, NotNull());
EXPECT_THAT(def->geom->type, mjGEOM_CAPSULE);
mj_deleteSpec(spec);
}
TEST_F(XMLReaderTest, ParseReplicateRepeatedName) {
static constexpr char xml[] = R"(
<mujoco>
<compiler>
<lengthrange mode="all"/>
</compiler>
<worldbody>
<light pos="0 0 10"/>
<replicate offset="0 .1 0" count="2">
<site name="a" size=".02"/>
<body pos="1 0 1">
<joint axis="0 -1 0" range="0 90"/>
<geom type="capsule" size=".02" fromto="0 0 0 0 0 -1"/>
<site name="b" pos="0 0 -1"/>
</body>
</replicate>
</worldbody>
<tendon>
<spatial name="b">
<site site="a"/>
<site site="b"/>
</spatial>
</tendon>
<actuator>
<position name="b" tendon="b0" ctrlrange="0 3" kp="100" dampratio="1"/>
<position name="b" tendon="b1" ctrlrange="0 3" kp="100" dampratio="1"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size());
EXPECT_THAT(spec, IsNull()) << error.data();
EXPECT_THAT(error.data(), HasSubstr("repeated name 'b' in actuator"));
EXPECT_THAT(error.data(), HasSubstr("Element 'position'"));
}
TEST_F(XMLReaderTest, RepeatedPrefix) {
static constexpr char parent[] = R"(
<mujoco>
<asset>
<model name="1" file="child_1.xml" content_type="text/xml" />
<model name="2" file="child_2.xml" content_type="text/xml" />
</asset>
<worldbody>
<attach model="1" body="1" prefix="prefix-"/>
<replicate count="1">
<attach model="2" body="2" prefix="prefix-"/>
</replicate>
</worldbody>
</mujoco>
)";
static constexpr char child_1[] = R"(
<mujoco>
<asset>
<model name="2" file="child_2.xml" content_type="text/xml"/>
</asset>
<worldbody>
<body name="1">
<body name="2">
<attach model="2" body="2" prefix="prefix2"/>
</body>
</body>
</worldbody>
</mujoco>
)";
static constexpr char child_2[] = R"(
<mujoco>
<worldbody>
<body name="2"/>
</worldbody>
</mujoco>
)";
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
mj_addBufferVFS(vfs.get(), "child_1.xml", child_1, sizeof(child_1));
mj_addBufferVFS(vfs.get(), "child_2.xml", child_2, sizeof(child_2));
std::array<char, 1024> err;
mjSpec* c2 = mj_parseXMLString(child_2, 0, err.data(), err.size());
EXPECT_THAT(c2, NotNull()) << err.data();
mjSpec* c1 = mj_parseXMLString(child_1, vfs.get(), err.data(), err.size());
EXPECT_THAT(c1, NotNull()) << err.data();
mj_deleteSpec(c1);
mj_deleteSpec(c2);
mjSpec* spec = mj_parseXMLString(parent, vfs.get(), err.data(), err.size());
EXPECT_THAT(spec, IsNull());
EXPECT_THAT(err.data(), HasSubstr("mismatched parents"));
mj_deleteSpec(spec);
mj_deleteVFS(vfs.get());
}
TEST_F(XMLReaderTest, ParseReplicateExcludeTendon) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body name="winch" pos="-.01 0 .35">
<joint name="winch" damping="1"/>
<geom type="cylinder" size=".015 .01"/>
<site name="anchor" pos=".1 0 .04"/>
</body>
<site name="pulley" pos=".1 0 .32"/>
<site name="hook_left" pos=".08 0 .3"/>
<site name="hook_right" pos=".12 0 .3"/>
<body name="sphere" pos=".1 0 .2">
<freejoint/>
<geom type="sphere" size=".03"/>
<site name="pin_left" pos="-.025 0 .025"/>
<site name="pin_right" pos=".025 0 .025"/>
</body>
<replicate count="4" offset=".025 0 0">
<replicate count="4" offset="0 .025 0">
<replicate count="4" offset="0 0 .025">
<body pos=".06 -.04 .05">
<geom type="sphere" size=".012"/>
</body>
</replicate>
</replicate>
</replicate>
</worldbody>
<tendon>
<spatial range="0 .19" limited="true">
<site site="anchor"/>
<site site="pulley"/>
<pulley divisor="3"/>
<site site="pulley"/>
<site site="hook_left"/>
<site site="pin_left"/>
<pulley divisor="3"/>
<site site="pulley"/>
<site site="hook_right"/>
<site site="pin_right"/>
</spatial>
</tendon>
<actuator>
<position name="winch" joint="winch" ctrlrange="-.7 .5" ctrllimited="true" kp="10"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size());
EXPECT_THAT(spec, NotNull()) << error.data();
mjModel* m = mj_compile(spec, 0);
EXPECT_THAT(m, NotNull());
EXPECT_THAT(m->nbody, 67);
EXPECT_THAT(m->ngeom, 66);
EXPECT_THAT(m->nsite, 6);
EXPECT_THAT(m->nu, 1);
EXPECT_THAT(m->ntendon, 1);
mj_deleteModel(m);
mj_deleteSpec(spec);
}
TEST_F(XMLReaderTest, ParseReplicateWithTendon) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<replicate count="2" offset=".025 0 0">
<replicate count="2" offset="0 .025 0">
<replicate count="2" offset="0 0 .025">
<body name="winch" pos="-.01 0 .35">
<joint name="winch" damping="1"/>
<geom type="cylinder" size=".015 .01"/>
<site name="anchor" pos=".1 0 .04"/>
</body>
<site name="pulley" pos=".1 0 .32"/>
<site name="hook_left" pos=".08 0 .3"/>
<site name="hook_right" pos=".12 0 .3"/>
<body name="sphere" pos=".1 0 .2">
<freejoint/>
<geom type="sphere" size=".03"/>
<site name="pin_left" pos="-.025 0 .025"/>
<site name="pin_right" pos=".025 0 .025"/>
</body>
<body pos=".06 -.04 .05">
<geom type="sphere" size=".012"/>
</body>
</replicate>
</replicate>
</replicate>
</worldbody>
<tendon>
<spatial range="0 .19" limited="true" name="tendon">
<site site="anchor"/>
<site site="pulley"/>
<pulley divisor="3"/>
<site site="pulley"/>
<site site="hook_left"/>
<site site="pin_left"/>
<pulley divisor="3"/>
<site site="pulley"/>
<site site="hook_right"/>
<site site="pin_right"/>
</spatial>
</tendon>
<actuator>
<position name="winch" joint="winch" ctrlrange="-.7 .5" ctrllimited="true" kp="10"/>
<position name="tendon" tendon="tendon" ctrlrange="0 1" kp="100" dampratio="1"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size());
EXPECT_THAT(spec, NotNull()) << error.data();
mjModel* m = mj_compile(spec, 0);
EXPECT_THAT(m, NotNull()) << mjs_getError(spec);
EXPECT_THAT(m->nbody, 25);
EXPECT_THAT(m->ngeom, 24);
EXPECT_THAT(m->nsite, 48);
EXPECT_THAT(m->nu, 16);
EXPECT_THAT(m->ntendon, 8);
mj_deleteModel(m);
mj_deleteSpec(spec);
}
// ---------------------- test spec assets parsing -----------------------------
TEST_F(XMLReaderTest, ParseSpecAssets) {
std::array<char, 1024> er;
static const char* const kParentPath =
"xml/testdata/parent.xml";
static const char* const kChildPath =
"xml/testdata/child.xml";
const std::string xml_parent = GetTestDataFilePath(kParentPath);
const std::string xml_child = GetTestDataFilePath(kChildPath);
mjModel* parent = mj_loadXML(xml_parent.c_str(), 0, er.data(), er.size());
EXPECT_THAT(parent, NotNull()) << er.data();
mjModel* child = mj_loadXML(xml_child.c_str(), 0, er.data(), er.size());
EXPECT_THAT(child, NotNull()) << er.data();
mj_deleteModel(parent);
mj_deleteModel(child);
}
TEST_F(XMLReaderTest, AttachSpecAssets) {
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"/>
<replicate count="2" offset="0 0 1">
<attach model="child" body="body" prefix="other"/>
</replicate>
</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>
)";
static constexpr char xml_expected[] = R"(
<mujoco>
<worldbody>
<body name="parent">
<geom name="geom" size="2"/>
<body name="otherbody0">
<geom name="othergeom0" size="1" pos="2 0 0"/>
</body>
<body name="otherbody1" pos="0 0 1">
<geom name="othergeom1" size="1" pos="2 0 0"/>
</body>
</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;
mjModel* model =
LoadModelFromString(xml_parent, er.data(), er.size(), vfs.get());
EXPECT_THAT(model, NotNull()) << er.data();
mjModel* expected = LoadModelFromString(xml_expected, er.data(), er.size());
EXPECT_THAT(expected, NotNull()) << er.data();
mjtNum tol = 0;
std::string field = "";
EXPECT_LE(CompareModel(model, expected, field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';;
mj_deleteModel(model);
mj_deleteModel(expected);
mj_deleteVFS(vfs.get());
}
TEST_F(XMLReaderTest, InvalidAttach) {
static constexpr char xml_parent[] = R"(
<mujoco>
<asset>
<model name="other" file="child.xml"/>
</asset>
<worldbody>
<body name="parent">
<joint name="joint1"/>
<geom size="2"/>
<attach model="other" body="body" prefix="_"/>
</body>
</worldbody>
<actuator>
<motor name="_actuator" joint="joint1"/>
</actuator>
</mujoco>
)";
static constexpr char xml_child[] = R"(
<mujoco model="child">
<worldbody>
<body name="body">
<joint name="joint2"/>
<geom size="1" pos="2 0 0"/>
</body>
</worldbody>
<actuator>
<motor name="actuator" joint="joint2"/>
</actuator>
</mujoco>
)";
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
mj_addBufferVFS(vfs.get(), "child.xml", xml_child, sizeof(xml_child));
std::array<char, 1024> er;
mjModel* model =
LoadModelFromString(xml_parent, er.data(), er.size(), vfs.get());
EXPECT_THAT(model, IsNull()) << er.data();
EXPECT_THAT(er.data(), HasSubstr("repeated name '_actuator' in actuator"));
EXPECT_THAT(er.data(), HasSubstr("Element 'attach'"));
mj_deleteVFS(vfs.get());
}
TEST_F(XMLReaderTest, LookupCompilerOptionWithoutSpecCopy) {
static constexpr char child_xml[] = R"(
<mujoco>
<compiler angle="radian"/>
<worldbody>
<body name="child">
<geom type="box" size="1 1 1"/>
<joint name="child_joint" range="-3.1415926 3.1415926"/>
</body>
</worldbody>
</mujoco>
)";
static constexpr char parent_xml[] = R"(
<mujoco>
<asset>
<model name="child" file="child.xml"/>
</asset>
<worldbody>
<body name="parent">
<geom type="box" size="1 1 1"/>
<joint name="parent_joint" range="-180 180"/>
<attach model="child" body="child" prefix="child_"/>
</body>
</worldbody>
</mujoco>
)";
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
mj_addBufferVFS(vfs.get(), "child.xml", child_xml, sizeof(child_xml));
mj_addBufferVFS(vfs.get(), "parent.xml", parent_xml, sizeof(parent_xml));
std::array<char, 1024> error;
auto* spec = mj_parseXMLString(parent_xml, vfs.get(), error.data(),
error.size());
ASSERT_THAT(spec, NotNull()) << error.data();
mjModel* model = mj_compile(spec, vfs.get());
EXPECT_THAT(model, NotNull());
EXPECT_THAT(model->njnt, 2);
EXPECT_NEAR(model->jnt_range[0], -3.14159, 1e-5);
EXPECT_NEAR(model->jnt_range[1], 3.14159, 1e-5);
EXPECT_NEAR(model->jnt_range[2], -3.14159, 1e-5);
EXPECT_NEAR(model->jnt_range[3], 3.14159, 1e-5);
mjSpec* copied_spec = mj_copySpec(spec);
ASSERT_THAT(copied_spec, NotNull());
mjModel* copied_model = mj_compile(copied_spec, vfs.get());
EXPECT_THAT(copied_model, NotNull());
EXPECT_THAT(copied_model->njnt, 2);
EXPECT_NEAR(copied_model->jnt_range[0], -3.14159, 1e-5);
EXPECT_NEAR(copied_model->jnt_range[1], 3.14159, 1e-5);
EXPECT_NEAR(copied_model->jnt_range[2], -3.14159, 1e-5);
EXPECT_NEAR(copied_model->jnt_range[3], 3.14159, 1e-5);
mj_deleteSpec(spec);
mj_deleteSpec(copied_spec);
mj_deleteModel(model);
mj_deleteModel(copied_model);
mj_deleteVFS(vfs.get());
}
TEST_F(XMLReaderTest, ResizeKeyframeAfterParsing) {
static constexpr char parent_xml[] = R"(
<mujoco>
<asset>
<model name="child" file="child.xml"/>
</asset>
<worldbody>
<attach model="child" body="world" prefix="child_"/>
<body name="body">
<joint name="joint"/>
<geom size="1"/>
</body>
</worldbody>
<keyframe>
<key name="key" qpos="1"/>
</keyframe>
</mujoco>
)";
static constexpr char child_xml[] = R"(
<mujoco>
<worldbody>
<body name="body">
<joint name="joint"/>
<geom size="1"/>
</body>
</worldbody>
</mujoco>
)";
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
mj_addBufferVFS(vfs.get(), "child.xml", child_xml, sizeof(child_xml));
std::array<char, 1024> error;
mjModel* m =
LoadModelFromString(parent_xml, error.data(), error.size(), vfs.get());
EXPECT_THAT(m, NotNull()) << error.data();
mj_deleteModel(m);
mj_deleteVFS(vfs.get());
}
// ----------------------- test camera parsing ---------------------------------
TEST_F(XMLReaderTest, CameraInvalidFovyAndSensorsize) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1"/>
<camera fovy="1" sensorsize="1 1" resolution="100 100"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, IsNull());
EXPECT_THAT(error.data(), HasSubstr("either 'fovy' or 'sensorsize'"));
EXPECT_THAT(error.data(), HasSubstr("line 6"));
}
TEST_F(XMLReaderTest, CameraPrincipalRequiresSensorsize) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1"/>
<camera principal="1 1"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, IsNull());
EXPECT_THAT(error.data(), HasSubstr("focal/principal require sensorsize"));
EXPECT_THAT(error.data(), HasSubstr("line 6"));
}
TEST_F(XMLReaderTest, CameraSensorsizeRequiresResolution) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1"/>
<camera sensorsize="1 1" resolution="0 0"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, IsNull());
EXPECT_THAT(error.data(), HasSubstr("requires positive resolution"));
EXPECT_THAT(error.data(), HasSubstr("line 6"));
}
// ----------------------- test inertia parsing --------------------------------
TEST_F(XMLReaderTest, InvalidInertialOrientation) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<inertial pos="0 0 0" mass="1" quat="1 0 0 0" fullinertia="1 1 1 0 0 0"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(
error.data(),
HasSubstr(
"fullinertia and inertial orientation cannot both be specified"));
}
TEST_F(XMLReaderTest, ReadShellParameter) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="example_mesh"
vertex="0 0 0 1 0 0 0 1 0 0 0 1"
face="0 2 1 2 0 3" inertia="shell"/>
</asset>
<worldbody>
<geom type="mesh" mesh="example_mesh"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
mj_deleteModel(model);
}
// ----------------------- test builtin mesh parsing ---------------------------
TEST_F(XMLReaderTest, ReadWedgeMesh) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="wedge" builtin="wedge" params="25 25 180 90 0"/>
</asset>
<worldbody>
<geom type="mesh" mesh="wedge"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, BuiltinAndFile) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="wedge" builtin="wedge" vertex="0 0 0 1 0 0 0 1 0 0 1 0"
params="25 25 180 90 0"/>
</asset>
<worldbody>
<geom type="mesh" mesh="wedge"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(),
HasSubstr("builtin mesh cannot be used with user vertex data"));
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, MakePlateNoParameters) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="plate" builtin="plate"/>
</asset>
<worldbody>
<geom type="mesh" mesh="plate" contype="0" conaffinity="0"/>
</worldbody>
</mujoco>)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("required attribute missing: 'params'"));
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, MakePlateTooFewParameters) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="plate" builtin="plate" params="1"/>
</asset>
<worldbody>
<geom type="mesh" mesh="plate" contype="0" conaffinity="0"/>
</worldbody>
</mujoco>)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(
error.data(),
HasSubstr("Plate builtin mesh type requires 2 parameters"));
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, MakePlateInvalidParameters) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="plate" builtin="plate" params="-1 -1"/>
</asset>
<worldbody>
<geom type="mesh" mesh="plate" contype="0" conaffinity="0"/>
</worldbody>
</mujoco>)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("resolutions must be positive"));
mj_deleteModel(model);
}
// ----------------------- test skin parsing --------------------------------
TEST_F(XMLReaderTest, ReadsSkinGroups) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body pos="1 -1 .6" name="B0_parent">
<flexcomp name="B0" type="grid" count="4 4 1" spacing=".2 .2 .2" group="2" radius=".1" dim="2">
<edge equality="true"/>
<contact internal="false" selfcollide="none"/>
</flexcomp>
</body>
<body pos="-1 1 .6" name="B1_parent">
<flexcomp name="B1" type="grid" count="4 4 1" spacing=".2 .2 .2" group="4" radius=".1" dim="2">
<edge equality="true"/>
<contact internal="false" selfcollide="none"/>
</flexcomp>
</body>
</worldbody>
<deformable>
<skin name="B0Skin" group="4" rgba="1 1 0 1" inflate="0.1"
vertex="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"
face="0 4 5 0 5 1 1 5 6 1 6 2 2 6 7 2 7 3 4 8 9 4 9 5 5 9 10 5 10 6 6 10 11 6 11 7 8
12 13 8 13 9 9 13 14 9 14 10 10 14 15 10 15 11 16 21 20 16 17 21 17 22 21 17 18
22 18 23 22 18 19 23 20 25 24 20 21 25 21 26 25 21 22 26 22 27 26 22 23 27 24 29
28 24 25 29 25 30 29 25 26 30 26 31 30 26 27 31 0 20 4 0 16 20 4 24 8 4 20 24 8
28 12 8 24 28 3 7 23 3 23 19 7 11 27 7 27 23 11 15 31 11 31 27 0 1 17 0 17 16 1
2 18 1 18 17 2 3 19 2 19 18 12 29 13 12 28 29 13 30 14 13 29 30 14 31 15 14 30 31">
<bone body="B0_0" bindpos="0 0 0" bindquat="1 0 0 0" vertid="0 16" vertweight="1 1"/>
<bone body="B0_1" bindpos="0 0 0" bindquat="1 0 0 0" vertid="1 17" vertweight="1 1"/>
<bone body="B0_2" bindpos="0 0 0" bindquat="1 0 0 0" vertid="2 18" vertweight="1 1"/>
<bone body="B0_3" bindpos="0 0 0" bindquat="1 0 0 0" vertid="3 19" vertweight="1 1"/>
<bone body="B0_4" bindpos="0 0 0" bindquat="1 0 0 0" vertid="4 20" vertweight="1 1"/>
<bone body="B0_5" bindpos="0 0 0" bindquat="1 0 0 0" vertid="5 21" vertweight="1 1"/>
<bone body="B0_6" bindpos="0 0 0" bindquat="1 0 0 0" vertid="6 22" vertweight="1 1"/>
<bone body="B0_7" bindpos="0 0 0" bindquat="1 0 0 0" vertid="7 23" vertweight="1 1"/>
<bone body="B0_8" bindpos="0 0 0" bindquat="1 0 0 0" vertid="8 24" vertweight="1 1"/>
<bone body="B0_9" bindpos="0 0 0" bindquat="1 0 0 0" vertid="9 25" vertweight="1 1"/>
<bone body="B0_10" bindpos="0 0 0" bindquat="1 0 0 0" vertid="10 26" vertweight="1 1"/>
<bone body="B0_11" bindpos="0 0 0" bindquat="1 0 0 0" vertid="11 27" vertweight="1 1"/>
<bone body="B0_12" bindpos="0 0 0" bindquat="1 0 0 0" vertid="12 28" vertweight="1 1"/>
<bone body="B0_13" bindpos="0 0 0" bindquat="1 0 0 0" vertid="13 29" vertweight="1 1"/>
<bone body="B0_14" bindpos="0 0 0" bindquat="1 0 0 0" vertid="14 30" vertweight="1 1"/>
<bone body="B0_15" bindpos="0 0 0" bindquat="1 0 0 0" vertid="15 31" vertweight="1 1"/>
</skin>
<skin name="B1Skin" group="2" rgba="0 1 1 1" inflate="0.1"
vertex="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"
face="0 4 5 0 5 1 1 5 6 1 6 2 2 6 7 2 7 3 4 8 9 4 9 5 5 9 10 5 10 6 6 10 11 6 11 7 8
12 13 8 13 9 9 13 14 9 14 10 10 14 15 10 15 11 16 21 20 16 17 21 17 22 21 17 18
22 18 23 22 18 19 23 20 25 24 20 21 25 21 26 25 21 22 26 22 27 26 22 23 27 24 29
28 24 25 29 25 30 29 25 26 30 26 31 30 26 27 31 0 20 4 0 16 20 4 24 8 4 20 24 8
28 12 8 24 28 3 7 23 3 23 19 7 11 27 7 27 23 11 15 31 11 31 27 0 1 17 0 17 16 1
2 18 1 18 17 2 3 19 2 19 18 12 29 13 12 28 29 13 30 14 13 29 30 14 31 15 14 30 31">
<bone body="B1_0" bindpos="0 0 0" bindquat="1 0 0 0" vertid="0 16" vertweight="1 1"/>
<bone body="B1_1" bindpos="0 0 0" bindquat="1 0 0 0" vertid="1 17" vertweight="1 1"/>
<bone body="B1_2" bindpos="0 0 0" bindquat="1 0 0 0" vertid="2 18" vertweight="1 1"/>
<bone body="B1_3" bindpos="0 0 0" bindquat="1 0 0 0" vertid="3 19" vertweight="1 1"/>
<bone body="B1_4" bindpos="0 0 0" bindquat="1 0 0 0" vertid="4 20" vertweight="1 1"/>
<bone body="B1_5" bindpos="0 0 0" bindquat="1 0 0 0" vertid="5 21" vertweight="1 1"/>
<bone body="B1_6" bindpos="0 0 0" bindquat="1 0 0 0" vertid="6 22" vertweight="1 1"/>
<bone body="B1_7" bindpos="0 0 0" bindquat="1 0 0 0" vertid="7 23" vertweight="1 1"/>
<bone body="B1_8" bindpos="0 0 0" bindquat="1 0 0 0" vertid="8 24" vertweight="1 1"/>
<bone body="B1_9" bindpos="0 0 0" bindquat="1 0 0 0" vertid="9 25" vertweight="1 1"/>
<bone body="B1_10" bindpos="0 0 0" bindquat="1 0 0 0" vertid="10 26" vertweight="1 1"/>
<bone body="B1_11" bindpos="0 0 0" bindquat="1 0 0 0" vertid="11 27" vertweight="1 1"/>
<bone body="B1_12" bindpos="0 0 0" bindquat="1 0 0 0" vertid="12 28" vertweight="1 1"/>
<bone body="B1_13" bindpos="0 0 0" bindquat="1 0 0 0" vertid="13 29" vertweight="1 1"/>
<bone body="B1_14" bindpos="0 0 0" bindquat="1 0 0 0" vertid="14 30" vertweight="1 1"/>
<bone body="B1_15" bindpos="0 0 0" bindquat="1 0 0 0" vertid="15 31" vertweight="1 1"/>
</skin>
</deformable>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
int flexid1 = mj_name2id(model, mjOBJ_FLEX, "B0");
int flexid2 = mj_name2id(model, mjOBJ_FLEX, "B1");
EXPECT_THAT(model->flex_group[flexid1], 2);
EXPECT_THAT(model->skin_group[0], 4);
EXPECT_THAT(model->flex_group[flexid2], 4);
EXPECT_THAT(model->skin_group[1], 2);
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, InvalidSkinGroup) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<composite prefix="B0" type="grid" count="6 6 1">
<geom size=".1"/>
<skin group="6"/>
</composite>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, IsNull());
EXPECT_THAT(
error.data(),
HasSubstr("skin group must be between 0 and 5\nElement 'skin', line 7"));
}
TEST_F(XMLReaderTest, Orthographic) {
static constexpr char xml[] = R"(
<mujoco>
<visual>
<global orthographic="true" fovy="5"/>
<map znear="0.01"/>
</visual>
<default>
<camera projection="orthographic"/>
</default>
<worldbody>
<camera name="fovy=1" pos=".5 .5 2" projection="orthographic" fovy="1"/>
<camera name="fovy=2" pos="0 0 2" fovy="2"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(model->vis.global.orthographic, 1);
EXPECT_EQ(model->cam_projection[0], mjPROJ_ORTHOGRAPHIC);
EXPECT_EQ(model->cam_projection[1], mjPROJ_ORTHOGRAPHIC);
EXPECT_EQ(model->cam_fovy[0], 1);
EXPECT_EQ(model->cam_fovy[1], 2);
mj_deleteModel(model);
}
// ------------- test height-field parsing -------------------------------------
using HfieldParsingTest = MujocoTest;
TEST_F(HfieldParsingTest, NoData) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<hfield name="hf" nrow="4" ncol="3" size="0.5 0.5 1 0.1"/>
</asset>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(model->hfield_nrow[0], 4);
EXPECT_EQ(model->hfield_ncol[0], 3);
EXPECT_EQ(model->hfield_size[0], 0.5);
EXPECT_EQ(model->hfield_size[1], 0.5);
EXPECT_EQ(model->hfield_size[2], 1);
EXPECT_EQ(model->hfield_size[3], 0.1);
mj_deleteModel(model);
}
TEST_F(HfieldParsingTest, HasDataBadSize) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<hfield name="hf" nrow="3" ncol="2" size="0.5 0.5 1 0.1"
elevation="1 2
3 4
5 6 7"/>
</asset>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("data length must match nrow*ncol"));
EXPECT_THAT(error.data(), HasSubstr("line 4"));
}
TEST_F(HfieldParsingTest, HasData) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<hfield name="hf" nrow="3" ncol="2" size="0.5 0.5 1 0.1"
elevation="1 2
3 4
5 6"/>
</asset>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(model->hfield_nrow[0], 3);
EXPECT_EQ(model->hfield_ncol[0], 2);
EXPECT_EQ(model->hfield_size[0], 0.5);
EXPECT_EQ(model->hfield_size[1], 0.5);
EXPECT_EQ(model->hfield_size[2], 1);
EXPECT_EQ(model->hfield_size[3], 0.1);
// offset (minimum) and scaling (maximum) from normalizing operation
float offset = 1.0;
float scale = 6.0 - offset;
// compare data, note: reverse row order
EXPECT_THAT(model->hfield_data[0], FloatEq((5-offset)/scale));
EXPECT_THAT(model->hfield_data[1], FloatEq((6-offset)/scale));
EXPECT_THAT(model->hfield_data[2], FloatEq((3-offset)/scale));
EXPECT_THAT(model->hfield_data[3], FloatEq((4-offset)/scale));
EXPECT_THAT(model->hfield_data[4], FloatEq((1-offset)/scale));
EXPECT_THAT(model->hfield_data[5], FloatEq((2-offset)/scale));
mj_deleteModel(model);
}
// ------------- test relative frame sensor parsing ----------------------------
using RelativeFrameSensorParsingTest = MujocoTest;
TEST_F(RelativeFrameSensorParsingTest, RefNameButNoType) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<site name="reference"/>
<body name="sensorized"/>
</worldbody>
<sensor>
<framepos objname="sensorized" objtype="body" refname="reference"/>
</sensor>
</mujoco>
)";
std::array<char, 1024> error;
LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(error.data(), HasSubstr("but reftype is missing"));
EXPECT_THAT(error.data(), HasSubstr("line 8"));
}
TEST_F(RelativeFrameSensorParsingTest, RefTypeButNoName) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<site name="reference"/>
<body name="sensorized"/>
</worldbody>
<sensor>
<framepos objname="sensorized" objtype="body" reftype="site"/>
</sensor>
</mujoco>
)";
std::array<char, 1024> error;
LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(error.data(), HasSubstr("attribute missing: 'refname'"));
EXPECT_THAT(error.data(), HasSubstr("line 8"));
}
// ------------- test actlimited parsing ---------------------------------------
using ActuatorTest = MujocoTest;
TEST_F(ActuatorTest, InvalidActlimited) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="hinge"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<motor joint="hinge" actlimited="invalid" actrange="-1 1"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("unrecognized attribute"));
EXPECT_THAT(error.data(), HasSubstr("line 10"));
}
TEST_F(ActuatorTest, IncompleteActlimited) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="hinge"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<general joint="hinge" actlimited="true" dyntype="filter" actrange="-1"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(),
HasSubstr("attribute 'actrange' does not have enough data"));
}
TEST_F(ActuatorTest, ReadsByte) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="hinge"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<general joint="hinge" dyntype="filter" actlimited="true" actrange="-1 1"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
EXPECT_EQ(*(model->actuator_actlimited), (mjtByte)(1 & 0xFF));
mj_deleteModel(model);
}
// ---------------- test actuator parsing --------------------------------------
using ActuatorParseTest = MujocoTest;
TEST_F(ActuatorParseTest, PositionTimeconst) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1"/>
<joint name="jnt"/>
</body>
</worldbody>
<actuator>
<position joint="jnt" timeconst="2"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
ASSERT_NEAR(model->actuator_dynprm[0], 2.0, 1e-6);
EXPECT_THAT(model->actuator_dyntype[0], Eq(mjDYN_FILTEREXACT));
mj_deleteModel(model);
}
TEST_F(ActuatorParseTest, PositionTimeconstInheritrange) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1"/>
<joint name="jnt" range="-1 1"/>
</body>
</worldbody>
<actuator>
<position joint="jnt" inheritrange="1" timeconst="2"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
mj_deleteModel(model);
}
TEST_F(ActuatorParseTest, PositionTimeconstDefault) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<position timeconst="1"/>
</default>
<worldbody>
<body>
<geom size="1"/>
<joint name="jnt"/>
</body>
</worldbody>
<actuator>
<position joint="jnt"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
ASSERT_NEAR(model->actuator_dynprm[0], 1.0, 1e-6);
EXPECT_THAT(model->actuator_dyntype[0], Eq(mjDYN_FILTEREXACT));
mj_deleteModel(model);
}
TEST_F(ActuatorParseTest, PositionTimeconstDefaultOverride) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<position timeconst="1"/>
</default>
<worldbody>
<body>
<geom size="1"/>
<joint name="jnt"/>
</body>
</worldbody>
<actuator>
<position joint="jnt" timeconst="0"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
EXPECT_FALSE(model->actuator_dynprm[0]);
EXPECT_THAT(model->actuator_dyntype[0], Eq(mjDYN_NONE));
mj_deleteModel(model);
}
TEST_F(ActuatorParseTest, ReadsDamper) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1"/>
<joint name="jnt" type="slide" axis="1 0 0" range="-10 10"/>
</body>
</worldbody>
<actuator>
<damper joint="jnt" ctrlrange="0 1"/>
<general joint="jnt" ctrllimited="true" ctrlrange="0 1" gaintype="affine" biastype="none"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
EXPECT_THAT(model->actuator_gaintype[0], Eq(mjGAIN_AFFINE));
EXPECT_THAT(model->actuator_gaintype[1], Eq(mjGAIN_AFFINE));
EXPECT_THAT(model->actuator_biastype[0], Eq(mjBIAS_NONE));
EXPECT_THAT(model->actuator_biastype[1], Eq(mjBIAS_NONE));
mj_deleteModel(model);
}
TEST_F(ActuatorParseTest, DamperRequiresPositiveDamping) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1"/>
<joint name="jnt" type="slide" axis="1 0 0" range="-10 10"/>
</body>
</worldbody>
<actuator>
<damper joint="jnt" kv="-1"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(),
HasSubstr("damping coefficient cannot be negative"));
}
TEST_F(ActuatorParseTest, DamperRequiresControlRange) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1"/>
<joint name="jnt" type="slide" axis="1 0 0" range="-10 10" limited="true"/>
</body>
</worldbody>
<actuator>
<damper joint="jnt" kv="1"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("invalid control range"));
EXPECT_THAT(error.data(), HasSubstr("line 10"));
}
TEST_F(ActuatorParseTest, DamperPositiveControlRange) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1"/>
<joint name="jnt" type="slide" axis="1 0 0" range="-10 10"/>
</body>
</worldbody>
<actuator>
<damper joint="jnt" kv="1" ctrlrange="-1 0"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("control range cannot be negative"));
EXPECT_THAT(error.data(), HasSubstr("line 10"));
}
TEST_F(ActuatorParseTest, ReadsPositionIntvelKv) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1"/>
<joint name="jnt" type="slide" axis="1 0 0"/>
</body>
</worldbody>
<actuator>
<position joint="jnt" kv="2"/>
<intvelocity joint="jnt" actrange="-1 1" kv="3"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
EXPECT_THAT(model->actuator_biasprm[0*mjNBIAS + 2], Eq(-2.0));
EXPECT_THAT(model->actuator_biasprm[1*mjNBIAS + 2], Eq(-3.0));
mj_deleteModel(model);
}
TEST_F(ActuatorParseTest, RequirePositiveKv) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1"/>
<joint name="jnt" type="slide" axis="1 0 0"/>
</body>
</worldbody>
<actuator>
<position joint="jnt" kv="-2"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("kv cannot be negative"));
EXPECT_THAT(error.data(), HasSubstr("line 10"));
}
TEST_F(ActuatorParseTest, PositionIntvelocityVelocityDefaultsPropagate) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<default class="position">
<position kp="3" kv="4" inheritrange="2"/>
</default>
<default class="intvelocity">
<intvelocity kp="5" kv="6" inheritrange="0.5"/>
</default>
<default class="velocity">
<velocity kv="7"/>
</default>
</default>
<worldbody>
<body>
<geom size="1"/>
<joint name="jnt" type="slide" axis="1 0 0" range="0 2"/>
</body>
</worldbody>
<actuator>
<position joint="jnt" class="position"/>
<intvelocity joint="jnt" class="intvelocity"/>
<velocity joint="jnt" class="velocity"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(model->actuator_gainprm[0*mjNGAIN + 0], 3.0);
EXPECT_EQ(model->actuator_biasprm[0*mjNBIAS + 1], -3.0);
EXPECT_EQ(model->actuator_biasprm[0*mjNBIAS + 2], -4.0);
EXPECT_EQ(model->actuator_gainprm[1*mjNGAIN + 0], 5.0);
EXPECT_EQ(model->actuator_biasprm[1*mjNBIAS + 1], -5.0);
EXPECT_EQ(model->actuator_biasprm[1*mjNBIAS + 2], -6.0);
EXPECT_EQ(model->actuator_gainprm[2*mjNGAIN + 0], 7.0);
EXPECT_EQ(model->actuator_biasprm[2*mjNBIAS + 1], 0.0);
EXPECT_EQ(model->actuator_biasprm[2*mjNBIAS + 2], -7.0);
for (int i = 0; i < model->nu; i++) {
for (int j = 3; j < mjNBIAS; j++) {
EXPECT_EQ(model->actuator_biasprm[i*mjNBIAS + j], 0.0);
}
for (int j = 3; j < mjNGAIN; j++) {
EXPECT_EQ(model->actuator_gainprm[i*mjNGAIN + j], 0.0);
}
}
EXPECT_EQ(model->actuator_ctrlrange[0*2 + 0], -1.0);
EXPECT_EQ(model->actuator_ctrlrange[0*2 + 1], 3.0);
EXPECT_EQ(model->actuator_actrange[1*2 + 0], 0.5);
EXPECT_EQ(model->actuator_actrange[1*2 + 1], 1.5);
mj_deleteModel(model);
}
TEST_F(ActuatorParseTest, IntvelocityCheckEquivalence) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="hinge"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<intvelocity joint="hinge" kp="2.5" actrange="-1.57 1.57"/>
<general joint="hinge" actlimited="true" actrange="-1.57 1.57"
dyntype="integrator" biastype="affine" gainprm="2.5" biasprm="0 -2.5 0"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
// same actlimited
EXPECT_EQ(model->actuator_actlimited[0], 1);
EXPECT_EQ(model->actuator_actlimited[1], 1);
// same dyntype
EXPECT_EQ(model->actuator_dyntype[0], mjDYN_INTEGRATOR);
EXPECT_EQ(model->actuator_dyntype[1], mjDYN_INTEGRATOR);
// same biastype
EXPECT_EQ(model->actuator_biastype[0], mjBIAS_AFFINE);
EXPECT_EQ(model->actuator_biastype[1], mjBIAS_AFFINE);
// same gaintype
EXPECT_EQ(model->actuator_gaintype[0], mjGAIN_FIXED);
EXPECT_EQ(model->actuator_gaintype[1], mjGAIN_FIXED);
// same gainprm
EXPECT_DOUBLE_EQ(model->actuator_gainprm[0], 2.5);
EXPECT_DOUBLE_EQ(model->actuator_gainprm[mjNGAIN], 2.5);
// same biasprm
EXPECT_DOUBLE_EQ(model->actuator_biasprm[0], 0.0);
EXPECT_DOUBLE_EQ(model->actuator_biasprm[1], -2.5);
EXPECT_DOUBLE_EQ(model->actuator_biasprm[2], 0.0);
EXPECT_DOUBLE_EQ(model->actuator_biasprm[mjNBIAS], 0.0);
EXPECT_DOUBLE_EQ(model->actuator_biasprm[mjNBIAS + 1], -2.5);
EXPECT_DOUBLE_EQ(model->actuator_biasprm[mjNBIAS + 2], 0.0);
// same actrange
EXPECT_DOUBLE_EQ(model->actuator_actrange[0 + 0], -1.57);
EXPECT_DOUBLE_EQ(model->actuator_actrange[0 + 1], 1.57);
EXPECT_DOUBLE_EQ(model->actuator_actrange[0 + 2], -1.57);
EXPECT_DOUBLE_EQ(model->actuator_actrange[0 + 3], 1.57);
mj_deleteModel(model);
}
TEST_F(ActuatorParseTest, IntvelocityCheckDefaultsIfNotSpecified) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="hinge"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<intvelocity joint="hinge" actrange="-1 1"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
// check that by default kp = 1
EXPECT_DOUBLE_EQ(model->actuator_gainprm[0], 1.0);
// check that biasprm is (0, -1, 0)
EXPECT_DOUBLE_EQ(model->actuator_biasprm[0], 0.0);
EXPECT_DOUBLE_EQ(model->actuator_biasprm[1], -1.0);
EXPECT_DOUBLE_EQ(model->actuator_biasprm[2], 0.0);
mj_deleteModel(model);
}
TEST_F(ActuatorParseTest, IntvelocityNoActrangeThrowsError) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="hinge"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<intvelocity joint="hinge"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("invalid actrange for actuator"));
EXPECT_THAT(error.data(), HasSubstr("line 10"));
}
TEST_F(ActuatorParseTest, IntvelocityDefaultsPropagate) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<intvelocity kp="5"/>
<default class="withactrange">
<intvelocity kp="1" actrange="-1 1"/>
</default>
</default>
<worldbody>
<body>
<joint name="hinge1"/>
<joint name="hinge2"/>
<geom type="box" size=".025 .025 .025"/>
</body>
</worldbody>
<actuator>
<intvelocity joint="hinge1" actrange="0 1"/>
<intvelocity joint="hinge2" class="withactrange"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_DOUBLE_EQ(model->actuator_gainprm[0], 5);
EXPECT_DOUBLE_EQ(model->actuator_gainprm[mjNGAIN], 1);
EXPECT_DOUBLE_EQ(model->actuator_actrange[0 + 0], 0);
EXPECT_DOUBLE_EQ(model->actuator_actrange[0 + 1], 1);
EXPECT_DOUBLE_EQ(model->actuator_actrange[0 + 2], -1);
EXPECT_DOUBLE_EQ(model->actuator_actrange[0 + 3], 1);
mj_deleteModel(model);
}
TEST_F(ActuatorParseTest, AdhesionDefaultsPropagate) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<adhesion ctrlrange="0 3"/>
</default>
<worldbody>
<body name="sphere">
<geom size="1"/>
</body>
</worldbody>
<actuator>
<adhesion body="sphere"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
EXPECT_EQ(model->actuator_ctrlrange[0], 0);
EXPECT_EQ(model->actuator_ctrlrange[1], 3);
mj_deleteModel(model);
}
TEST_F(ActuatorParseTest, ErrorBadAdhesionDefaults) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<adhesion ctrlrange="-1 0"/>
</default>
<worldbody>
<body name="sphere">
<geom size="1"/>
</body>
</worldbody>
<actuator>
<adhesion body="sphere"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(),
HasSubstr("adhesion control range cannot be negative"));
}
// make sure range requirement is not enforced at parse time
TEST_F(ActuatorParseTest, DampersDontRequireRange) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<damper ctrlrange="0 2"/>
</default>
<worldbody>
<body name="sphere">
<joint name="hinge"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<damper joint="hinge"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
EXPECT_EQ(model->actuator_ctrlrange[0], 0);
EXPECT_EQ(model->actuator_ctrlrange[1], 2);
mj_deleteModel(model);
}
// adhesion actuators inherit from general defaults
TEST_F(ActuatorParseTest, AdhesionInheritsFromGeneral) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<general dyntype="filter" dynprm="123" gainprm="5"/>
<adhesion ctrlrange="0 2"/>
</default>
<worldbody>
<body name="sphere">
<geom name="sphere" size="1"/>
</body>
</worldbody>
<actuator>
<adhesion name="adhere" body="sphere"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
// expect that gainprm was inherited from the general default
EXPECT_EQ(model->actuator_gainprm[0], 5);
// expect that dynprm was inherited from the general default
EXPECT_EQ(model->actuator_dynprm[0], 123);
// expect that dyntype was inherited from the general default
EXPECT_EQ(model->actuator_dyntype[0], mjDYN_FILTER);
mj_deleteModel(model);
}
TEST_F(ActuatorParseTest, ActdimDefaultsPropagate) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<general actdim="2"/>
</default>
<worldbody>
<body>
<geom size="1"/>
<joint name="hinge"/>
</body>
</worldbody>
<actuator>
<general joint="hinge" dyntype="user"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
// expect that actdim was inherited from the general default
EXPECT_EQ(model->actuator_actnum[0], 2);
mj_deleteModel(model);
}
TEST_F(ActuatorParseTest, MusclesParseSmoothdyn) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1"/>
<joint name="hinge" limited="true" range="-1 1"/>
</body>
</worldbody>
<actuator>
<muscle joint="hinge"/>
<muscle joint="hinge" tausmooth="0.4"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(model->actuator_dynprm[2], 0.0);
EXPECT_EQ(model->actuator_dynprm[mjNDYN + 2], 0.4);
mj_deleteModel(model);
}
TEST_F(ActuatorParseTest, MusclesSmoothdynNegative) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1"/>
<joint name="hinge" limited="true" range="-1 1"/>
</body>
</worldbody>
<actuator>
<muscle joint="hinge" tausmooth="-0.4"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("muscle tausmooth cannot be negative"));
EXPECT_THAT(error.data(), HasSubstr("line 10"));
}
TEST_F(ActuatorParseTest, GroupDisable) {
static constexpr char xml[] = R"(
<mujoco>
<option actuatorgroupdisable="0 3 8 3"/>
<!-- note: repeated numbers are okay -->
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
EXPECT_EQ(model->opt.disableactuator, (1<<0) + (1<<3) + (1<<8));
mj_deleteModel(model);
}
TEST_F(ActuatorParseTest, GroupDisableNegative) {
static constexpr char xml[] = R"(
<mujoco>
<option actuatorgroupdisable="0 -3 5"/>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("must be non-negative"));
EXPECT_THAT(error.data(), HasSubstr("line 3"));
}
TEST_F(ActuatorParseTest, GroupDisableTooBig) {
static constexpr char xml[] = R"(
<mujoco>
<option actuatorgroupdisable="0 31"/>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("cannot exceed 30"));
EXPECT_THAT(error.data(), HasSubstr("line 3"));
}
// ------------- test sensor parsing -------------------------------------------
using SensorParseTest = MujocoTest;
TEST_F(SensorParseTest, UserObjTypeNoName) {
static constexpr char xml[] = R"(
<mujoco>
<sensor>
<user dim="1" needstage="vel" objtype="site"/>
</sensor>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("objtype 'site' given but"));
EXPECT_THAT(error.data(), HasSubstr("line 4"));
}
TEST_F(SensorParseTest, UserObjNameNoType) {
static constexpr char xml[] = R"(
<mujoco>
<sensor>
<user dim="1" needstage="vel" objname="kevin"/>
</sensor>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("objname 'kevin' given but"));
EXPECT_THAT(error.data(), HasSubstr("line 4"));
}
TEST_F(SensorParseTest, UserNeedstageAcc) {
static constexpr char xml[] = R"(
<mujoco>
<sensor>
<user dim="1" needstage="vel"/>
<user dim="1"/>
<user dim="1" needstage="pos"/>
</sensor>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(model->sensor_needstage[0], mjSTAGE_VEL);
EXPECT_EQ(model->sensor_needstage[1], mjSTAGE_ACC);
EXPECT_EQ(model->sensor_needstage[2], mjSTAGE_POS);
mj_deleteModel(model);
}
// ------------- test general parsing ------------------------------------------
TEST_F(XMLReaderTest, ZnearZeroNotAllowed) {
static constexpr char xml[] = R"(
<mujoco>
<visual>
<map znear="0"/>
</visual>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("znear must be strictly positive"));
EXPECT_THAT(error.data(), HasSubstr("line 4"));
}
TEST_F(XMLReaderTest, ZnearNegativeNotAllowed) {
static constexpr char xml[] = R"(
<mujoco>
<visual>
<map znear="-1"/>
</visual>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("znear must be strictly positive"));
EXPECT_THAT(error.data(), HasSubstr("line 4"));
}
TEST_F(XMLReaderTest, ExtentZeroNotAllowed) {
static constexpr char xml[] = R"(
<mujoco>
<statistic extent="0"/>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("extent must be strictly positive"));
EXPECT_THAT(error.data(), HasSubstr("line 3"));
}
TEST_F(XMLReaderTest, ExtentNegativeNotAllowed) {
static constexpr char xml[] = R"(
<mujoco>
<statistic extent="-1"/>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("extent must be strictly positive"));
EXPECT_THAT(error.data(), HasSubstr("line 3"));
}
TEST_F(XMLReaderTest, LightRadius) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<default class="r1">
<light bulbradius="1"/>
</default>
</default>
<worldbody>
<light/>
<light class="r1"/>
<light class="r1" bulbradius="2"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_FLOAT_EQ(model->light_bulbradius[0], 0.02);
EXPECT_FLOAT_EQ(model->light_bulbradius[1], 1);
EXPECT_FLOAT_EQ(model->light_bulbradius[2], 2);
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, CameraOutput) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<camera name="default_cam"/>
<camera name="single_cam" output="depth"/>
<camera name="multi_cam" output="rgb normal segmentation"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(model->ncam, 3);
EXPECT_EQ(model->cam_output[0], mjCAMOUT_RGB); // default
EXPECT_EQ(model->cam_output[1], mjCAMOUT_DEPTH);
EXPECT_EQ(model->cam_output[2],
mjCAMOUT_RGB | mjCAMOUT_NORMAL | mjCAMOUT_SEG);
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, CameraOutputDefault) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<default class="multi">
<camera output="depth distance"/>
</default>
</default>
<worldbody>
<camera name="default_cam"/>
<camera name="class_cam" class="multi"/>
<camera name="override_cam" class="multi" output="normal"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(model->ncam, 3);
EXPECT_EQ(model->cam_output[0], mjCAMOUT_RGB); // main default
EXPECT_EQ(model->cam_output[1], mjCAMOUT_DEPTH | mjCAMOUT_DIST);
EXPECT_EQ(model->cam_output[2], mjCAMOUT_NORMAL);
mj_deleteModel(model);
}
} // namespace
} // namespace mujoco
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