Initial open sourcing of MuJoCo.
PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
This commit is contained in:
Saran Tunyasuvunakool
committed by
Copybara-Service
Copybara-Service
parent
0e5d062302
commit
1913a02b40
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# Copyright 2021 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# https://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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mujoco_test(user_model_test)
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target_link_libraries(user_model_test fixture gmock)
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mujoco_test(user_objects_test)
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target_link_libraries(user_objects_test fixture gmock)
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mujoco_test(user_mesh_test)
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target_link_libraries(user_mesh_test fixture gmock)
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+20
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<mujoco>
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<default>
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<geom size=".8 .9"/>
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<!-- These are arbitrary, the capsule-related `MjCGeomTest` instances pass for any values. -->
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</default>
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<worldbody>
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<body pos="-2 0 0" name="sphere">
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<geom type="sphere"/>
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</body>
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<body name="cylinder">
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<geom type="cylinder"/>
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</body>
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<body pos="2 0 0" name="capsule">
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<geom type="capsule"/>
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</body>
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</worldbody>
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</mujoco>
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Vendored
+8
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v -0.500000 -0.500000 0.500000
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v 0.500000 -0.500000 0.500000
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v -0.500000 0.500000 0.500000
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v 0.500000 0.500000 0.500000
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v -0.500000 0.500000 -0.500000
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v 0.500000 0.500000 -0.500000
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v -0.500000 -0.500000 -0.500000
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v 0.500000 -0.500000 -0.500000
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Vendored
+8
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<mujoco>
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<asset>
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<mesh file="cube.obj"/>
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</asset>
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<worldbody>
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<geom type="mesh" mesh="cube"/>
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</worldbody>
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</mujoco>
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Vendored
+20
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v 1 1 1
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v -1 1 -1
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v -1 -1 1
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v 1 -1 -1
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v 1 1 1
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v -1 1 -1
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v -1 -1 1
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v 1 -1 -1
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v 1 1 1
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v -1 1 -1
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v -1 -1 1
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v 1 -1 -1
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v 1 1 1
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v -1 1 -1
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v -1 -1 1
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v 1 -1 -1
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f 1 2 3
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f 5 7 8
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f 9 12 10
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f 16 15 14
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Vendored
+8
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<mujoco>
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<asset>
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<mesh file="duplicate.obj"/>
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</asset>
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<worldbody>
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<geom type="mesh" mesh="duplicate"/>
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</worldbody>
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</mujoco>
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BIN
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<mujoco>
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<asset>
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<mesh file="duplicate_vertices.stl"/>
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</asset>
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<worldbody>
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<geom type="mesh" mesh="duplicate_vertices"/>
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</worldbody>
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</mujoco>
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Vendored
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<mujoco>
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<asset>
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<mesh file="torus.obj" scale="1 -1 1"/>
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</asset>
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<worldbody>
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<geom type="mesh" mesh="torus"/>
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</worldbody>
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</mujoco>
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+13
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<mujoco>
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<compiler meshdir="textured_torus" texturedir="textured_torus"/>
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<asset>
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<mesh name="torus" file="textured_torus.obj"/>
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<mesh name="flipped_torus" file="textured_torus.obj" scale="-1 1 1"/>
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<texture file="carpet.png" type="2d"/>
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<material name="carpet" texture="carpet"/>
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</asset>
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<worldbody>
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<geom type="mesh" mesh="torus" material="carpet"/>
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<geom type="mesh" mesh="flipped_torus" material="carpet" pos="0 0 1"/>
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</worldbody>
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</mujoco>
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After Width: | Height: | Size: 1.1 MiB |
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#
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# Wavefront material file
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# Converted by Meshlab Group
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#
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newmtl material_0
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Ka 0.200000 0.200000 0.200000
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Kd 0.800000 0.800000 0.800000
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Ks 1.000000 1.000000 1.000000
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Tr 1.000000
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illum 2
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Ns 0.000000
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map_Kd carpet.png
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+2961
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Load Diff
Vendored
+1168
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Load Diff
Vendored
+8
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<mujoco>
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<asset>
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<mesh file="torus.obj"/>
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</asset>
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<worldbody>
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<geom type="mesh" mesh="torus"/>
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</worldbody>
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</mujoco>
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Vendored
+2082
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Load Diff
Vendored
+8
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<mujoco>
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<asset>
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<mesh file="torus.obj"/>
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</asset>
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<worldbody>
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<geom type="mesh" mesh="torus"/>
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</worldbody>
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</mujoco>
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// Copyright 2021 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// Tests for user/user_objects.cc.
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#include <array>
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#include <cstddef>
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#include <ostream>
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#include <string>
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjtnum.h>
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#include <mujoco/mujoco.h>
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#include "test/fixture.h"
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namespace mujoco {
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namespace {
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using MjCMeshTest = MujocoTest;
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// yuval: why do we want these anyway? why not string literals in the tests?
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// this does not improve readabillity IMO.
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static const char* const kDuplicateVerticesPath =
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"user/testdata/duplicate_vertices.xml";
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static const char* const kCubePath =
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"user/testdata/cube.xml";
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static const char* const kTorusPath =
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"user/testdata/torus.xml";
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static const char* const kTorusQuadsPath =
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"user/testdata/torus_quads.xml";
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static const char* const kTexturedTorusPath =
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"user/testdata/textured_torus.xml";
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static const char* const kDuplicateOBJPath =
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"user/testdata/duplicate.xml";
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// ------------- test vertex de-duplication (STL) ------------------------------
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TEST_F(MjCMeshTest, DeDuplicateSTLVertices) {
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const std::string xml_path = GetTestDataFilePath(kDuplicateVerticesPath);
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char error[1024];
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size_t error_sz = 1024;
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mjModel* model = mj_loadXML(xml_path.c_str(), 0, error, error_sz);
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ASSERT_EQ(model->nmeshvert, 4);
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mj_deleteModel(model);
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}
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// ------------- test OBJ loading ----------------------------------------------
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using MjCMeshTest = MujocoTest;
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TEST_F(MjCMeshTest, LoadCube) {
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const std::string xml_path = GetTestDataFilePath(kCubePath);
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mjModel* model = mj_loadXML(xml_path.c_str(), 0, nullptr, 0);
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ASSERT_GT(model->ngeom, 0);
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ASSERT_EQ(model->nmeshvert, 8);
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mj_deleteModel(model);
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}
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TEST_F(MjCMeshTest, LoadTorus) {
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const std::string xml_path = GetTestDataFilePath(kTorusPath);
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std::array<char, 1024> error;
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mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
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ASSERT_GT(model->ngeom, 0);
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ASSERT_GT(model->nmeshvert, 0);
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mj_deleteModel(model);
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}
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TEST_F(MjCMeshTest, LoadTorusQuads) {
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const std::string xml_path = GetTestDataFilePath(kTorusQuadsPath);
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std::array<char, 1024> error;
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mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
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ASSERT_GT(model->ngeom, 0);
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ASSERT_GT(model->nmeshvert, 0);
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mj_deleteModel(model);
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}
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TEST_F(MjCMeshTest, LoadTexturedTorus) {
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const std::string xml_path = GetTestDataFilePath(kTexturedTorusPath);
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std::array<char, 1024> error;
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mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
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ASSERT_GT(model->ngeom, 0);
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ASSERT_GT(model->nmeshvert, 0);
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ASSERT_GT(model->ntex, 0);
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ASSERT_GT(model->ntexdata, 0);
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mj_deleteModel(model);
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}
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TEST_F(MjCMeshTest, KeepDuplicateOBJVertices) {
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const std::string xml_path = GetTestDataFilePath(kDuplicateOBJPath);
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char error[1024];
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size_t error_sz = 1024;
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mjModel* model = mj_loadXML(xml_path.c_str(), 0, error, error_sz);
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ASSERT_EQ(model->nmeshvert, 12);
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mj_deleteModel(model);
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}
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TEST_F(MjCMeshTest, SaveMeshOnce) {
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const std::string xml_path = GetTestDataFilePath(kCubePath);
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std::array<char, 1024> error;
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mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, Not(testing::HasSubstr("vertex")));
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mj_deleteModel(model);
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}
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} // namespace
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} // namespace mujoco
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// Copyright 2021 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// Tests for user/user_model.cc.
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#include <cstddef>
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#include <string>
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mujoco.h>
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#include "test/fixture.h"
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namespace mujoco {
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namespace {
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using ::testing::ElementsAre;
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using UserDataTest = MujocoTest;
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static std::vector<mjtNum> GetRow(const mjtNum* array, int ncolumn, int row) {
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return std::vector<mjtNum>(array + ncolumn * row,
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array + ncolumn * (row + 1));
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}
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// ------------- test automatic inference of nuser_xxx -------------------------
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TEST_F(UserDataTest, AutoNUserBody) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body user="1 2 3"/>
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<body user="2 3"/>
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</worldbody>
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</mujoco>
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)";
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mjModel* m = LoadModelFromString(xml);
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ASSERT_EQ(m->nuser_body, 3);
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EXPECT_THAT(GetRow(m->body_user, m->nuser_body, 1), ElementsAre(1, 2, 3));
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EXPECT_THAT(GetRow(m->body_user, m->nuser_body, 2), ElementsAre(2, 3, 0));
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mj_deleteModel(m);
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}
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TEST_F(UserDataTest, AutoNUserJoint) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body>
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<geom size="1"/>
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<joint user="1 2 3"/>
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<joint user="2 3"/>
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</body>
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</worldbody>
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</mujoco>
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)";
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mjModel* m = LoadModelFromString(xml);
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ASSERT_EQ(m->nuser_jnt, 3);
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EXPECT_THAT(GetRow(m->jnt_user, m->nuser_jnt, 0), ElementsAre(1, 2, 3));
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EXPECT_THAT(GetRow(m->jnt_user, m->nuser_jnt, 1), ElementsAre(2, 3, 0));
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mj_deleteModel(m);
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}
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TEST_F(UserDataTest, AutoNUserGeom) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<geom size="1" user="1 2 3"/>
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<geom size="1" user="2 3"/>
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</worldbody>
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</mujoco>
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)";
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mjModel* m = LoadModelFromString(xml);
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ASSERT_EQ(m->nuser_geom, 3);
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EXPECT_THAT(GetRow(m->geom_user, m->nuser_geom, 0), ElementsAre(1, 2, 3));
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EXPECT_THAT(GetRow(m->geom_user, m->nuser_geom, 1), ElementsAre(2, 3, 0));
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mj_deleteModel(m);
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}
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TEST_F(UserDataTest, AutoNUserSite) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<site user="1 2 3"/>
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<site user="2 3"/>
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</worldbody>
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</mujoco>
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)";
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mjModel* m = LoadModelFromString(xml);
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ASSERT_EQ(m->nuser_site, 3);
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EXPECT_THAT(GetRow(m->site_user, m->nuser_site, 0), ElementsAre(1, 2, 3));
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EXPECT_THAT(GetRow(m->site_user, m->nuser_site, 1), ElementsAre(2, 3, 0));
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mj_deleteModel(m);
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}
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TEST_F(UserDataTest, AutoNUserCamera) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<camera user="1 2 3"/>
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<camera user="2 3"/>
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</worldbody>
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</mujoco>
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)";
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mjModel* m = LoadModelFromString(xml);
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ASSERT_EQ(m->nuser_cam, 3);
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EXPECT_THAT(GetRow(m->cam_user, m->nuser_cam, 0), ElementsAre(1, 2, 3));
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EXPECT_THAT(GetRow(m->cam_user, m->nuser_cam, 1), ElementsAre(2, 3, 0));
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mj_deleteModel(m);
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}
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TEST_F(UserDataTest, AutoNUserTendon) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<site name="a"/>
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<site name="b"/>
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</worldbody>
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<tendon>
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<spatial user="1 2 3">
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<site site="a"/>
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<site site="b"/>
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</spatial>
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<spatial user="2 3">
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<site site="a"/>
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<site site="b"/>
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</spatial>
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</tendon>
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</mujoco>
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)";
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mjModel* m = LoadModelFromString(xml);
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ASSERT_EQ(m->nuser_tendon, 3);
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EXPECT_THAT(GetRow(m->tendon_user, m->nuser_tendon, 0), ElementsAre(1, 2, 3));
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EXPECT_THAT(GetRow(m->tendon_user, m->nuser_tendon, 1), ElementsAre(2, 3, 0));
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mj_deleteModel(m);
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}
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TEST_F(UserDataTest, AutoNUserActuator) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body>
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<geom size="1"/>
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<joint name="a"/>
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</body>
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</worldbody>
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<actuator>
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<motor joint="a" user="1 2 3"/>
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||||
<motor joint="a" user="2 3"/>
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</actuator>
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</mujoco>
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)";
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mjModel* m = LoadModelFromString(xml);
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ASSERT_EQ(m->nuser_actuator, 3);
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EXPECT_THAT(GetRow(m->actuator_user, m->nuser_actuator, 0),
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ElementsAre(1, 2, 3));
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EXPECT_THAT(GetRow(m->actuator_user, m->nuser_actuator, 1),
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ElementsAre(2, 3, 0));
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mj_deleteModel(m);
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}
|
||||
|
||||
TEST_F(UserDataTest, AutoNUserSensor) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<site name="a"/>
|
||||
</worldbody>
|
||||
<sensor>
|
||||
<accelerometer site="a" user="1 2 3"/>
|
||||
<gyro site="a" user="2 3"/>
|
||||
</sensor>
|
||||
</mujoco>
|
||||
)";
|
||||
mjModel* m = LoadModelFromString(xml);
|
||||
ASSERT_EQ(m->nuser_sensor, 3);
|
||||
EXPECT_THAT(GetRow(m->sensor_user, m->nuser_sensor, 0), ElementsAre(1, 2, 3));
|
||||
EXPECT_THAT(GetRow(m->sensor_user, m->nuser_sensor, 1), ElementsAre(2, 3, 0));
|
||||
mj_deleteModel(m);
|
||||
}
|
||||
|
||||
} // namespace
|
||||
} // namespace mujoco
|
||||
@@ -0,0 +1,519 @@
|
||||
// Copyright 2021 DeepMind Technologies Limited
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
// Tests for user/user_objects.cc.
|
||||
|
||||
#include <array>
|
||||
#include <cstddef>
|
||||
#include <string>
|
||||
|
||||
#include <gmock/gmock.h>
|
||||
#include <gtest/gtest.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mujoco.h>
|
||||
#include "test/fixture.h"
|
||||
|
||||
namespace mujoco {
|
||||
namespace {
|
||||
|
||||
static std::vector<mjtNum> GetRow(const mjtNum* array, int ncolumn, int row) {
|
||||
return std::vector<mjtNum>(array + ncolumn * row,
|
||||
array + ncolumn * (row + 1));
|
||||
}
|
||||
|
||||
using ::testing::ElementsAre;
|
||||
using ::testing::HasSubstr;
|
||||
using ::testing::IsNull;
|
||||
using ::testing::NotNull;
|
||||
|
||||
|
||||
// ------------- test relative frame sensor compilation-------------------------
|
||||
|
||||
using RelativeFrameSensorParsingTest = MujocoTest;
|
||||
|
||||
TEST_F(RelativeFrameSensorParsingTest, RefTypeNotRequired) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<body name="sensorized"/>
|
||||
</worldbody>
|
||||
<sensor>
|
||||
<framepos objtype="body" objname="sensorized"/>
|
||||
</sensor>
|
||||
</mujoco>
|
||||
)";
|
||||
mjModel* model = LoadModelFromString(xml, 0, 0);
|
||||
ASSERT_THAT(model, NotNull());
|
||||
mj_deleteModel(model);
|
||||
}
|
||||
|
||||
TEST_F(RelativeFrameSensorParsingTest, ReferenceBodyFound) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<body name="reference"/>
|
||||
<body name="sensorized"/>
|
||||
</worldbody>
|
||||
<sensor>
|
||||
<framepos objtype="xbody" objname="sensorized"
|
||||
reftype="xbody" refname="reference"/>
|
||||
</sensor>
|
||||
</mujoco>
|
||||
)";
|
||||
mjModel* model = LoadModelFromString(xml, 0, 0);
|
||||
ASSERT_THAT(model, NotNull());
|
||||
ASSERT_EQ(model->sensor_reftype[0], mjOBJ_XBODY);
|
||||
ASSERT_EQ(model->sensor_refid[0], 1);
|
||||
mj_deleteModel(model);
|
||||
}
|
||||
|
||||
TEST_F(RelativeFrameSensorParsingTest, MissingRefname) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<body name="reference"/>
|
||||
<body name="sensorized"/>
|
||||
</worldbody>
|
||||
<sensor>
|
||||
<framepos objtype="body" objname="sensorized"
|
||||
reftype="body" refname=""/>
|
||||
</sensor>
|
||||
</mujoco>
|
||||
)";
|
||||
std::array<char, 1024> error;
|
||||
LoadModelFromString(xml, error.data(), error.size());
|
||||
EXPECT_THAT(error.data(), HasSubstr("missing name of reference frame"));
|
||||
}
|
||||
|
||||
TEST_F(RelativeFrameSensorParsingTest, BadRefName) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<body name="reference"/>
|
||||
<body name="sensorized"/>
|
||||
</worldbody>
|
||||
<sensor>
|
||||
<framepos objtype="body" objname="sensorized"
|
||||
reftype="body" refname="wrong_name"/>
|
||||
</sensor>
|
||||
</mujoco>
|
||||
)";
|
||||
std::array<char, 1024> error;
|
||||
LoadModelFromString(xml, error.data(), error.size());
|
||||
EXPECT_THAT(error.data(), HasSubstr("unrecognized name of reference frame"));
|
||||
}
|
||||
|
||||
TEST_F(RelativeFrameSensorParsingTest, BadRefType) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<light name="reference"/>
|
||||
<body name="sensorized"/>
|
||||
</worldbody>
|
||||
<sensor>
|
||||
<framepos objtype="body" objname="sensorized"
|
||||
reftype="light" refname="reference"/>
|
||||
</sensor>
|
||||
</mujoco>
|
||||
)";
|
||||
std::array<char, 1024> error;
|
||||
LoadModelFromString(xml, error.data(), error.size());
|
||||
EXPECT_THAT(error.data(), HasSubstr("reference frame object must be"));
|
||||
}
|
||||
|
||||
// ------------- test capsule inertias -----------------------------------------
|
||||
|
||||
static const char* const kCapsuleInertiaPath =
|
||||
"user/testdata/capsule_inertia.xml";
|
||||
|
||||
using MjCGeomTest = MujocoTest;
|
||||
|
||||
static constexpr int kSphereBodyId = 1, kCylinderBodyId = 2,
|
||||
kCapsuleBodyId = 3, kCapsuleGeomId = 2;
|
||||
|
||||
TEST_F(MjCGeomTest, CapsuleMass) {
|
||||
const std::string xml_path = GetTestDataFilePath(kCapsuleInertiaPath);
|
||||
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
|
||||
// Mass of capsule should equal mass of cylinder + mass of sphere.
|
||||
mjtNum sphere_cylinder_mass =
|
||||
model->body_mass[kSphereBodyId] + model->body_mass[kCylinderBodyId];
|
||||
mjtNum capsule_mass = model->body_mass[kCapsuleBodyId];
|
||||
EXPECT_DOUBLE_EQ(sphere_cylinder_mass, capsule_mass);
|
||||
mj_deleteModel(model);
|
||||
}
|
||||
|
||||
TEST_F(MjCGeomTest, CapsuleInertiaZ) {
|
||||
const std::string xml_path = GetTestDataFilePath(kCapsuleInertiaPath);
|
||||
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
|
||||
// z-inertia of capsule should equal sphere + cylinder z-inertia.
|
||||
mjtNum sphere_cylinder_z_inertia =
|
||||
model->body_inertia[3*kSphereBodyId + 2] +
|
||||
model->body_inertia[3*kCylinderBodyId + 2];
|
||||
mjtNum capsule_z_inertia = model->body_inertia[3*kCapsuleBodyId + 2];
|
||||
EXPECT_DOUBLE_EQ(sphere_cylinder_z_inertia, capsule_z_inertia);
|
||||
mj_deleteModel(model);
|
||||
}
|
||||
|
||||
TEST_F(MjCGeomTest, CapsuleInertiaX) {
|
||||
const std::string xml_path = GetTestDataFilePath(kCapsuleInertiaPath);
|
||||
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
|
||||
|
||||
// The CoM of a solid hemisphere is 3/8*radius away from from the disk.
|
||||
mjtNum hs_com = model->geom_size[3*kCapsuleGeomId] * 3 / 8;
|
||||
|
||||
// The mass of the two hemispherical end-caps is just the mass of the sphere.
|
||||
mjtNum sphere_mass = model->body_mass[1];
|
||||
|
||||
// x-inertia of capsule should equal sphere + cylinder x-inertias, with
|
||||
// corrections from shifting the hemispheres using parallel axis theorem.
|
||||
mjtNum sphere_cylinder_x_inertia = model->body_inertia[3*kSphereBodyId] +
|
||||
model->body_inertia[3*kCylinderBodyId];
|
||||
|
||||
// Parallel axis-theorem #1: translate the hemispheres in to the origin.
|
||||
mjtNum translate_in = hs_com;
|
||||
sphere_cylinder_x_inertia -= sphere_mass * translate_in*translate_in;
|
||||
|
||||
// Parallel axis-theorem #2: translate the hemispheres out to the end caps.
|
||||
mjtNum cylinder_half_length = model->geom_size[3*kCapsuleGeomId + 1];
|
||||
mjtNum translate_out = cylinder_half_length + hs_com;
|
||||
sphere_cylinder_x_inertia += sphere_mass * translate_out*translate_out;
|
||||
|
||||
// Compare native capsule inertia and computed inertia.
|
||||
mjtNum capsule_x_inertia = model->body_inertia[3*kCapsuleBodyId];
|
||||
EXPECT_DOUBLE_EQ(sphere_cylinder_x_inertia, capsule_x_inertia);
|
||||
mj_deleteModel(model);
|
||||
}
|
||||
|
||||
// ------------- test quaternion normalization----------------------------------
|
||||
|
||||
using QuatNorm = MujocoTest;
|
||||
|
||||
TEST_F(QuatNorm, QuatNotNormalized) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<site quat="1 2 2 4"/>
|
||||
<camera quat="1 2 2 4"/>
|
||||
<body quat="1 2 2 4">
|
||||
<geom quat="1 2 2 4" size="1"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
)";
|
||||
std::array<char, 1024> error;
|
||||
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
|
||||
EXPECT_THAT(GetRow(m->body_quat, 4, 1), ElementsAre(1./5, 2./5, 2./5, 4./5));
|
||||
EXPECT_THAT(GetRow(m->geom_quat, 4, 0), ElementsAre(1./5, 2./5, 2./5, 4./5));
|
||||
EXPECT_THAT(GetRow(m->site_quat, 4, 0), ElementsAre(1./5, 2./5, 2./5, 4./5));
|
||||
EXPECT_THAT(GetRow(m->cam_quat, 4, 0), ElementsAre(1./5, 2./5, 2./5, 4./5));
|
||||
mj_deleteModel(m);
|
||||
}
|
||||
|
||||
// ------------- test actuator order -------------------------------------------
|
||||
|
||||
using ActuatorTest = MujocoTest;
|
||||
|
||||
TEST_F(ActuatorTest, BadOrder) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<body>
|
||||
<joint name="hinge"/>
|
||||
<geom size="1"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<general joint="hinge" dyntype="filter"/>
|
||||
<general joint="hinge"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
)";
|
||||
char error[1024];
|
||||
size_t error_sz = 1024;
|
||||
mjModel* model = LoadModelFromString(xml, error, error_sz);
|
||||
EXPECT_THAT(model, ::testing::IsNull());
|
||||
EXPECT_THAT(error, HasSubstr("stateless actuators must come before"));
|
||||
}
|
||||
|
||||
|
||||
// ------------- test actlimited and actrange fields ---------------------------
|
||||
|
||||
using ActRangeTest = MujocoTest;
|
||||
|
||||
TEST_F(ActRangeTest, ActRangeParsed) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<body>
|
||||
<joint name="hinge"/>
|
||||
<geom size="1"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<general dyntype="integrator" joint="hinge" actlimited="true" actrange="-1 1.5"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
)";
|
||||
mjModel* m = LoadModelFromString(xml, nullptr, 0);
|
||||
EXPECT_EQ(m->actuator_actlimited[0], 1);
|
||||
EXPECT_EQ(m->actuator_actrange[0], -1);
|
||||
EXPECT_EQ(m->actuator_actrange[1], 1.5);
|
||||
|
||||
mj_deleteModel(m);
|
||||
}
|
||||
|
||||
TEST_F(ActRangeTest, ActRangeBad) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<body>
|
||||
<joint name="hinge"/>
|
||||
<geom size="1"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<general dyntype="integrator" joint="hinge" actlimited="true" 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("invalid activation range"));
|
||||
}
|
||||
|
||||
TEST_F(ActRangeTest, ActRangeUndefined) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<body>
|
||||
<joint name="hinge"/>
|
||||
<geom size="1"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<general dyntype="integrator" joint="hinge" actlimited="true"/>
|
||||
</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 activation range"));
|
||||
}
|
||||
|
||||
TEST_F(ActRangeTest, ActRangeNoDyntype) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<body>
|
||||
<joint name="hinge"/>
|
||||
<geom size="1"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<general joint="hinge" actlimited="true" 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("actrange specified but dyntype is 'none'"));
|
||||
}
|
||||
|
||||
TEST_F(ActRangeTest, ActRangeDefaultsPropagate) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<option timestep="0.01"/>
|
||||
<default>
|
||||
<general dyntype="integrator" actlimited="true" actrange="-1 1"/>
|
||||
<default class="dclass">
|
||||
<general actlimited="false" actrange="2 3"/>
|
||||
</default>
|
||||
</default>
|
||||
<worldbody>
|
||||
<body>
|
||||
<joint name="slide" type="slide" axis="1 0 0"/>
|
||||
<geom size=".1"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<general joint="slide"/>
|
||||
<general joint="slide" class="dclass"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
)";
|
||||
std::array<char, 1024> error;
|
||||
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
|
||||
|
||||
// first actuator
|
||||
EXPECT_THAT(model->actuator_actlimited[0], 1);
|
||||
EXPECT_THAT(model->actuator_actrange[0], -1);
|
||||
EXPECT_THAT(model->actuator_actrange[1], 1);
|
||||
|
||||
// // second actuator
|
||||
EXPECT_THAT(model->actuator_actlimited[1], 0);
|
||||
EXPECT_THAT(model->actuator_actrange[2], 2);
|
||||
EXPECT_THAT(model->actuator_actrange[3], 3);
|
||||
|
||||
mj_deleteModel(model);
|
||||
}
|
||||
|
||||
// ------------- test nuser_xxx fields -----------------------------------------
|
||||
|
||||
using UserDataTest = MujocoTest;
|
||||
|
||||
TEST_F(UserDataTest, NBodyTooSmall) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<size nuser_body="2"/>
|
||||
<worldbody>
|
||||
<body user="1 2 3"/>
|
||||
</worldbody>
|
||||
</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"));
|
||||
}
|
||||
|
||||
TEST_F(UserDataTest, NJointTooSmall) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<size nuser_jnt="2"/>
|
||||
<worldbody>
|
||||
<body>
|
||||
<geom size="1"/>
|
||||
<joint user="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("nuser_jnt"));
|
||||
}
|
||||
|
||||
TEST_F(UserDataTest, NGeomTooSmall) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<size nuser_geom="2"/>
|
||||
<worldbody>
|
||||
<geom size="1" user="1 2 3"/>
|
||||
</worldbody>
|
||||
</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"));
|
||||
}
|
||||
|
||||
TEST_F(UserDataTest, NSiteTooSmall) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<size nuser_site="2"/>
|
||||
<worldbody>
|
||||
<site user="1 2 3"/>
|
||||
</worldbody>
|
||||
</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"));
|
||||
}
|
||||
|
||||
TEST_F(UserDataTest, NCameraTooSmall) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<size nuser_cam="2"/>
|
||||
<worldbody>
|
||||
<camera user="1 2 3"/>
|
||||
</worldbody>
|
||||
</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"));
|
||||
}
|
||||
|
||||
TEST_F(UserDataTest, NTendonTooSmall) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<size nuser_tendon="2"/>
|
||||
<worldbody>
|
||||
<site name="a"/>
|
||||
<site name="b"/>
|
||||
</worldbody>
|
||||
<tendon>
|
||||
<spatial user="1 2 3">
|
||||
<site site="a"/>
|
||||
<site site="b"/>
|
||||
</spatial>
|
||||
</tendon>
|
||||
</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"));
|
||||
}
|
||||
|
||||
TEST_F(UserDataTest, NActuatorTooSmall) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<size nuser_actuator="2"/>
|
||||
<worldbody>
|
||||
<body>
|
||||
<geom size="1"/>
|
||||
<joint name="a"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<motor joint="a" user="1 2 3"/>
|
||||
</actuator>
|
||||
</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"));
|
||||
}
|
||||
|
||||
TEST_F(UserDataTest, NSensorTooSmall) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<size nuser_sensor="2"/>
|
||||
<worldbody>
|
||||
<site name="a"/>
|
||||
</worldbody>
|
||||
<sensor>
|
||||
<accelerometer site="a" user="1 2 3"/>
|
||||
</sensor>
|
||||
</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"));
|
||||
}
|
||||
|
||||
} // namespace
|
||||
} // namespace mujoco
|
||||
Reference in New Issue
Block a user