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Remove grid from composite types.

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Replaced it with flexcomp in the models.

PiperOrigin-RevId: 730070619
Change-Id: Icbc69e4c6784c6252743f689a1eafb6482d0c393
This commit is contained in:
Alessio Quaglino
2025-02-23 01:29:20 -08:00
committed by Copybara-Service
parent b90ff3f0b1
commit 0fcd20f0da
14 changed files with 191 additions and 568 deletions
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test/user/user_composite_test.cc
+2 -23
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@@ -37,32 +37,11 @@ using UserCompositeTest = MujocoTest;
// ------------- test automatic inference of nuser_xxx -------------------------
TEST_F(UserCompositeTest, MultipleJointsNotAllowedUnlessParticle) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<freejoint/>
<composite type="grid" count="7 7 1" spacing="0.04">
<joint kind="main" solreffix="0.03 1" solimpfix="0 .1 .01"/>
<joint kind="main" solreffix="0.03 1" solimpfix="0 .1 .01"/>
</composite>
</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("Only particles are allowed to have multiple joints"));
}
TEST_F(UserCompositeTest, SpacingGreaterThanGeometry) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<composite type="grid" count="282 2">
<composite type="particle" count="282 2">
<geom size="8"/>
</composite>
</worldbody>
@@ -79,7 +58,7 @@ TEST_F(UserCompositeTest, SpacingEqualToGeometry) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<composite type="grid" count="282 2" spacing="8">
<composite type="particle" count="282 2" spacing="8">
<geom size="8"/>
</composite>
</worldbody>