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Remove all visual-only assets if discardvisual is selected, not only the geoms.

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PiperOrigin-RevId: 598598250
Change-Id: I12e60ce41ad436d037b4877d197decf6bdce0fc8
This commit is contained in:
Alessio Quaglino
2024-01-15 06:38:11 -08:00
committed by Copybara-Service
parent acf698e2df
commit 1e2e0b3053
11 changed files with 557 additions and 65 deletions
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test/user/testdata/discardvisual.xml
Vendored
+73
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@@ -0,0 +1,73 @@
<mujoco>
<compiler discardvisual="true"/>
<asset>
<texture name="discarded_skybox" type="skybox" builtin="gradient"
rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
<texture name="discarded" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
<material name="discarded" texture="discarded" texrepeat="1 1" texuniform="true" reflectance=".2"/>
<mesh name="kept" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
<mesh name="discarded0" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
<mesh name="discarded1" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
</asset>
<worldbody>
<geom name="kept_floor" size="0 0 .05" type="plane" material="discarded"/>
<body pos="0 0 -.5">
<freejoint/>
<geom name="discarded0" type="mesh" mesh="discarded0" contype="0" conaffinity="0"/>
</body>
<site name="tendon0" pos=".1 0 1.5"/>
<geom name="kept_tendon" size="0.2" contype="0" conaffinity="0" pos="0 0 1"/>
<body pos=".1 0 -.5">
<site name="tendon1" pos="0 0 1"/>
<freejoint/>
<geom name="discarded1" type="mesh" mesh="kept" contype="0" conaffinity="0"/>
</body>
<body pos=".2 0 -.5">
<geom name="kept0" type="mesh" mesh="kept"/>
</body>
<body pos=".3 0 -.5">
<freejoint/>
<geom name="kept1" type="mesh" mesh="kept"/>
</body>
<body pos=".4 0 -.5">
<geom name="discarded2" type="mesh" mesh="kept" contype="0" conaffinity="0"/>
</body>
<geom name="kept_sensor" size="0.2" contype="0" conaffinity="0"/>
<geom name="kept_pair" size="0.2" contype="0" conaffinity="0" pos=".3 0 .4"/>
<geom name="kept_tuple" size="0.2" contype="0" conaffinity="0"/>
</worldbody>
<contact>
<pair geom1="kept1" geom2="kept_pair"/>
</contact>
<tendon>
<spatial range="0 1">
<site site="tendon0"/>
<geom geom="kept_tendon"/>
<site site="tendon1"/>
</spatial>
</tendon>
<sensor>
<framepos objtype="geom" objname="kept_sensor"/>
</sensor>
<custom>
<tuple name="tuple">
<element objtype="geom" objname="kept_tuple"/>
</tuple>
</custom>
</mujoco>
test/user/testdata/discardvisual_false.xml
Vendored
+73
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@@ -0,0 +1,73 @@
<mujoco>
<compiler discardvisual="false"/>
<asset>
<texture name="discarded_skybox" type="skybox" builtin="gradient"
rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
<texture name="discarded" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
<material name="discarded" texture="discarded" texrepeat="1 1" texuniform="true" reflectance=".2"/>
<mesh name="kept" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
<mesh name="discarded0" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
<mesh name="discarded1" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
</asset>
<worldbody>
<geom name="kept_floor" size="0 0 .05" type="plane" material="discarded"/>
<body pos="0 0 -.5">
<freejoint/>
<geom name="discarded0" type="mesh" mesh="discarded0" contype="0" conaffinity="0"/>
</body>
<site name="tendon0" pos=".1 0 1.5"/>
<geom name="kept_tendon" size="0.2" contype="0" conaffinity="0" pos="0 0 1"/>
<body pos=".1 0 -.5">
<site name="tendon1" pos="0 0 1"/>
<freejoint/>
<geom name="discarded1" type="mesh" mesh="kept" contype="0" conaffinity="0"/>
</body>
<body pos=".2 0 -.5">
<geom name="kept0" type="mesh" mesh="kept"/>
</body>
<body pos=".3 0 -.5">
<freejoint/>
<geom name="kept1" type="mesh" mesh="kept"/>
</body>
<body pos=".4 0 -.5">
<geom name="discarded2" type="mesh" mesh="kept" contype="0" conaffinity="0"/>
</body>
<geom name="kept_sensor" size="0.2" contype="0" conaffinity="0"/>
<geom name="kept_pair" size="0.2" contype="0" conaffinity="0" pos=".3 0 .4"/>
<geom name="kept_tuple" size="0.2" contype="0" conaffinity="0"/>
</worldbody>
<contact>
<pair geom1="kept1" geom2="kept_pair"/>
</contact>
<tendon>
<spatial range="0 1">
<site site="tendon0"/>
<geom geom="kept_tendon"/>
<site site="tendon1"/>
</spatial>
</tendon>
<sensor>
<framepos objtype="geom" objname="kept_sensor"/>
</sensor>
<custom>
<tuple name="tuple">
<element objtype="geom" objname="kept_tuple"/>
</tuple>
</custom>
</mujoco>
test/user/user_model_test.cc
+112
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@@ -15,6 +15,7 @@
// Tests for user/user_model.cc.
#include <array>
#include <cstddef>
#include <string>
#include <gmock/gmock.h>
@@ -283,5 +284,116 @@ TEST_F(FuseStaticTest, FuseStaticEquivalent) {
mj_deleteModel(m_no_fuse);
}
// ------------- test discardvisual --------------------------------------------
using DiscardVisualTest = MujocoTest;
TEST_F(DiscardVisualTest, DiscardVisualKeepsInertia) {
static constexpr char xml[] = R"(
<mujoco>
<compiler discardvisual="true"/>
<asset>
<mesh name="visual_mesh"
vertex="0 0 0 1 0 0 0 1 0 0 0 1"
normal="1 0 0 0 1 0 0 0 1 0.707 0 0.707"
face="0 2 1 0 3 2" />
<mesh name="collision_mesh"
vertex="0 0 0 1 0 0 0 1 0 0 0 1"
normal="1 0 0 0 1 0 0 0 1 0.707 0 0.707"
face="0 2 1 0 3 2" />
</asset>
<worldbody>
<body>
<geom type="mesh" mesh="visual_mesh" contype="0" conaffinity="0"/>
</body>
<body>
<geom type="mesh" mesh="collision_mesh"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, NotNull()) << error.data();
EXPECT_THAT(model->nmesh, 1);
EXPECT_THAT(model->body_inertia[3], model->body_inertia[6]);
EXPECT_THAT(model->body_inertia[4], model->body_inertia[7]);
EXPECT_THAT(model->body_inertia[5], model->body_inertia[8]);
mj_deleteModel(model);
}
TEST_F(DiscardVisualTest, DiscardVisualEquivalent) {
char error[1024];
size_t error_sz = 1024;
static const char* const kDiscardvisualPath =
"user/testdata/discardvisual.xml";
static const char* const kDiscardvisualFalsePath =
"user/testdata/discardvisual_false.xml";
const std::string xml_path1 = GetTestDataFilePath(kDiscardvisualPath);
mjModel* model1 = mj_loadXML(xml_path1.c_str(), 0, error, error_sz);
EXPECT_THAT(model1, NotNull()) << error;
const std::string xml_path2 = GetTestDataFilePath(kDiscardvisualFalsePath);
mjModel* model2 = mj_loadXML(xml_path2.c_str(), 0, error, error_sz);
EXPECT_THAT(model2, NotNull()) << error;
EXPECT_THAT(model1->nq, model2->nq);
EXPECT_THAT(model1->nmat, 0);
EXPECT_THAT(model1->ntex, 0);
EXPECT_THAT(model2->ngeom-model1->ngeom, 3);
EXPECT_THAT(model2->nmesh-model1->nmesh, 2);
EXPECT_THAT(model1->npair, model2->npair);
EXPECT_THAT(model1->nsensor, model2->nsensor);
EXPECT_THAT(model1->nwrap, model2->nwrap);
for (int i = 0; i < model1->ngeom; i++) {
std::string name = std::string(model1->names + model1->name_geomadr[i]);
EXPECT_NE(name.find("kept"), std::string::npos);
EXPECT_EQ(name.find("discard"), std::string::npos);
}
for (int i = 0; i < model1->npair; i++) {
int adr1 = model1->name_geomadr[model1->pair_geom1[i]];
int adr2 = model2->name_geomadr[model2->pair_geom1[i]];
EXPECT_STREQ(model1->names + adr1, model2->names + adr2);
adr1 = model1->name_geomadr[model1->pair_geom2[i]];
adr2 = model2->name_geomadr[model2->pair_geom2[i]];
EXPECT_STREQ(model1->names + adr1, model2->names + adr2);
}
for (int i = 0; i < model1->nsensor; i++) {
int adr1 = model1->name_geomadr[model1->sensor_objid[i]];
int adr2 = model2->name_geomadr[model2->sensor_objid[i]];
EXPECT_STREQ(model1->names + adr1, model2->names + adr2);
}
for (int i = 0; i < model1->nwrap; i++) {
int adr1 = model1->name_geomadr[model1->wrap_objid[i]];
int adr2 = model2->name_geomadr[model2->wrap_objid[i]];
EXPECT_STREQ(model1->names + adr1, model2->names + adr2);
}
mjData *d1 = mj_makeData(model1);
mjData *d2 = mj_makeData(model2);
for (int i = 0; i < 100; i++) {
mj_step(model1, d1);
mj_step(model2, d2);
}
for (int i = 0; i < model1->nq; i++) {
EXPECT_THAT(d1->qpos[i], d2->qpos[i]);
}
mj_deleteModel(model1);
mj_deleteModel(model2);
mj_deleteData(d1);
mj_deleteData(d2);
}
} // namespace
} // namespace mujoco