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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/xml/xml_native_reader_test.cc
+70 -14
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@@ -1809,29 +1809,85 @@ TEST_F(XMLReaderTest, ReadsSkinGroups) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<composite prefix="B0" type="grid" count="4 4 1" spacing=".2">
<geom size=".1" group="2"/>
<skin group="4"/>
</composite>
<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>
<composite prefix="B1" type="grid" count="4 4 1" spacing=".2">
<geom size=".1" group="4"/>
<skin group="2"/>
</composite>
<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());
int geomid1 = mj_name2id(model, mjOBJ_GEOM, "B0G0_0");
int geomid2 = mj_name2id(model, mjOBJ_GEOM, "B1G0_0");
EXPECT_THAT(model->geom_group[geomid1], 2);
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->geom_group[geomid2], 4);
EXPECT_THAT(model->flex_group[flexid2], 4);
EXPECT_THAT(model->skin_group[1], 2);
mj_deleteModel(model);
}