From 39f0321a68200cfe10ee1a420f5fc73f0e10ab50 Mon Sep 17 00:00:00 2001
From: Kyle Bayes <kylebayes@google.com>
Date: Mon, 10 Nov 2025 21:29:42 -0800
Subject: [PATCH] Clean up NativeCCD testing models.

PiperOrigin-RevId: 830733959
Change-Id: Ie7f71c36d2efafd37aecef54ca4897cebd6d091f
---
 test/engine/engine_collision_gjk_test.cc | 141 +++++++----------------
 1 file changed, 44 insertions(+), 97 deletions(-)

diff --git a/test/engine/engine_collision_gjk_test.cc b/test/engine/engine_collision_gjk_test.cc
index 0fb8b0cf..d06a5b02 100644
--- a/test/engine/engine_collision_gjk_test.cc
+++ b/test/engine/engine_collision_gjk_test.cc
@@ -326,8 +326,8 @@ TEST_F(MjGjkTest, BoxBoxDepth2) {
   static constexpr char xml[] = R"(
   <mujoco>
     <worldbody>
-      <geom name="geom1" type="box" pos="0 0 0" size="5 5 .1"/>
-      <geom name="geom2" type="box" pos="0 0 0" size="1 1 1"/>
+      <geom name="geom1" type="box" size="5 5 .1"/>
+      <geom name="geom2" type="box" size="1 1 1"/>
     </worldbody>
   </mujoco>)";
 
@@ -378,8 +378,8 @@ TEST_F(MjGjkTest, BoxBoxDepth3) {
   static constexpr char xml[] = R"(
   <mujoco>
     <worldbody>
-      <geom name="geom1" type="box" pos="0 0 0" size="0.25 0.25 0.05"/>
-      <geom name="geom2" type="box" pos="0 0 0" size="0.25 0.25 0.05"/>
+      <geom name="geom1" type="box" size="0.25 0.25 0.05"/>
+      <geom name="geom2" type="box" size="0.25 0.25 0.05"/>
     </worldbody>
   </mujoco>)";
 
@@ -792,8 +792,8 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD7) {
   static constexpr char xml[] = R"(
   <mujoco>
     <worldbody>
-      <geom name="geom1" type="box" size=".25 .25 .05" pos="0 0 0"/>
-      <geom name="geom2" type="box" size=".25 .25 .05" pos="0 0 0"/>
+      <geom name="geom1" type="box" size=".25 .25 .05"/>
+      <geom name="geom2" type="box" size=".25 .25 .05"/>
     </worldbody>
 </mujoco>)";
 
@@ -856,8 +856,8 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD8) {
   static constexpr char xml[] = R"(
   <mujoco>
     <worldbody>
-      <geom name="geom1" type="box" size=".25 .25 .05" pos="0 0 0"/>
-      <geom name="geom2" type="box" size=".25 .25 .05" pos="0 0 0"/>
+      <geom name="geom1" type="box" size=".25 .25 .05"/>
+      <geom name="geom2" type="box" size=".25 .25 .05"/>
     </worldbody>
 </mujoco>)";
 
@@ -919,8 +919,8 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD9) {
   static constexpr char xml[] = R"(
   <mujoco>
     <worldbody>
-      <geom name="geom1" type="box" size=".025 .025 .025" pos="0 0 0"/>
-      <geom name="geom2" type="box" size=".025 .025 .025" pos="0 0 0"/>
+      <geom name="geom1" type="box" size=".025 .025 .025"/>
+      <geom name="geom2" type="box" size=".025 .025 .025"/>
     </worldbody>
   </mujoco>)";
 
@@ -983,8 +983,8 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD10) {
   static constexpr char xml[] = R"(
   <mujoco>
     <worldbody>
-      <geom name="geom1" type="box" pos="0 0 0" size="0.025 0.025 0.025"/>
-      <geom name="geom2" type="box" pos="0 0 0" size="0.025 0.025 0.025"/>
+      <geom name="geom1" type="box" size="0.025 0.025 0.025"/>
+      <geom name="geom2" type="box" size="0.025 0.025 0.025"/>
     </worldbody>
   </mujoco>)";
 
@@ -1025,8 +1025,8 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD11) {
   static constexpr char xml[] = R"(
   <mujoco>
     <worldbody>
-      <geom name="geom1" type="box" pos="0 0 0" size="0.025 0.025 0.025"/>
-      <geom name="geom2" type="box" pos="0 0 0" size="0.025 0.025 0.025"/>
+      <geom name="geom1" type="box" size="0.025 0.025 0.025"/>
+      <geom name="geom2" type="box" size="0.025 0.025 0.025"/>
     </worldbody>
   </mujoco>)";
 
@@ -1091,8 +1091,8 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD12) {
   static constexpr char xml[] = R"(
   <mujoco>
     <worldbody>
-      <geom name="geom1" type="box" pos="0 0 0" size="0.025 0.025 0.025"/>
-      <geom name="geom2" type="box" pos="0 0 0" size="0.025 0.025 0.025"/>
+      <geom name="geom1" type="box" size="0.025 0.025 0.025"/>
+      <geom name="geom2" type="box" size="0.025 0.025 0.025"/>
     </worldbody>
   </mujoco>)";
 
@@ -1155,8 +1155,8 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD13) {
   static constexpr char xml[] = R"(
   <mujoco>
     <worldbody>
-      <geom name="geom1" type="box" pos="0 0 0" size="0.02 0.02 0.02"/>
-      <geom name="geom2" type="box" pos="0 0 0" size="0.02 0.02 0.02"/>
+      <geom name="geom1" type="box" size="0.02 0.02 0.02"/>
+      <geom name="geom2" type="box" size="0.02 0.02 0.02"/>
     </worldbody>
   </mujoco>)";
 
@@ -1223,8 +1223,8 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD14) {
   static constexpr char xml[] = R"(
   <mujoco>
     <worldbody>
-      <geom name="geom1" type="box" pos="0 0 0" size="0.02 0.02 0.02"/>
-      <geom name="geom2" type="box" pos="0 0 0" size="0.02 0.02 0.02"/>
+      <geom name="geom1" type="box" size="0.02 0.02 0.02"/>
+      <geom name="geom2" type="box" size="0.02 0.02 0.02"/>
     </worldbody>
   </mujoco>)";
 
@@ -1526,20 +1526,9 @@ TEST_F(MjGjkTest, MeshMeshPrune) {
 TEST_F(MjGjkTest, BoxEdge) {
   static constexpr char xml[] = R"(
   <mujoco>
-    <option>
-      <flag nativeccd="enable" multiccd="enable"/>
-    </option>
-
     <worldbody>
-      <geom type="box" name="box1" size="5 5 .1" pos="0 0 0"/>
-      <body pos="0 0 2">
-        <freejoint/>
-        <geom type="box" name="box2" size="1 1 1"/>
-      </body>
-      <body pos="0 0 4.4" euler="0 90 40">
-        <freejoint/>
-        <geom type="box" name="box3" size="1 1 1"/>
-      </body>
+      <geom type="box" name="box1" size="1 1 1" pos="0 0 2"/>
+      <geom type="box" name="box2" size="1 1 1" pos="0 0 4.4" euler="0 90 40"/>
     </worldbody>
   </mujoco>)";
 
@@ -1550,8 +1539,8 @@ TEST_F(MjGjkTest, BoxEdge) {
   mjData* data = mj_makeData(model);
   mj_forward(model, data);
 
-  int g1 = mj_name2id(model, mjOBJ_GEOM, "box2");
-  int g2 = mj_name2id(model, mjOBJ_GEOM, "box3");
+  int g1 = mj_name2id(model, mjOBJ_GEOM, "box1");
+  int g2 = mj_name2id(model, mjOBJ_GEOM, "box2");
 
   mjCCDStatus status;
   std::vector<mjtNum> dir, pos;
@@ -1566,21 +1555,9 @@ TEST_F(MjGjkTest, BoxEdge) {
 TEST_F(MjGjkTest, BoxEdge2) {
   static constexpr char xml[] = R"(
   <mujoco>
-    <option>
-      <flag nativeccd="enable" multiccd="enable"/>
-    </option>
-
     <worldbody>
-      <geom type="box" name="box1" size="5 5 .1" pos="0 0 0"/>
-      <body pos="0 0 2">
-        <freejoint/>
-        <geom type="box" name="box2" size="1 1 1"/>
-      </body>
-
-      <body pos="0 0 4.4" euler="0 90 40">
-        <freejoint/>
-        <geom type="box" name="box3" size="1 1 1"/>
-      </body>
+      <geom type="box" name="box1" size="1 1 1"/>
+      <geom type="box" name="box2" size="1 1 1"/>
     </worldbody>
   </mujoco>)";
 
@@ -1591,8 +1568,8 @@ TEST_F(MjGjkTest, BoxEdge2) {
   mjData* data = mj_makeData(model);
   mj_forward(model, data);
 
-  mjtNum* xmat = data->geom_xmat + 9;
-  mjtNum* xpos = data->geom_xpos + 3;
+  mjtNum* xmat = data->geom_xmat;
+  mjtNum* xpos = data->geom_xpos;
 
   xmat[0] = 0.9999979704374094557906005320546682924032;
   xmat[1] = -0.0017789363449516469497385662279498319549;
@@ -1608,8 +1585,8 @@ TEST_F(MjGjkTest, BoxEdge2) {
   xpos[1] = 0.0098645950089783600300830102014515432529;
   xpos[2] = 1.1037596929447945903746131079969927668571;
 
-  xmat = data->geom_xmat + 18;
-  xpos = data->geom_xpos + 6;
+  xmat = data->geom_xmat + 9;
+  xpos = data->geom_xpos + 3;
 
   xmat[0] = 0.0006737475542006746490053537002040684456;
   xmat[1] = -0.0095603689585630827196816028390458086506;
@@ -1625,8 +1602,8 @@ TEST_F(MjGjkTest, BoxEdge2) {
   xpos[1] = 0.9828851949225971829093850828940048813820;
   xpos[2] = 3.0930077345364814789263618877157568931580;
 
-  int g1 = mj_name2id(model, mjOBJ_GEOM, "box2");
-  int g2 = mj_name2id(model, mjOBJ_GEOM, "box3");
+  int g1 = mj_name2id(model, mjOBJ_GEOM, "box1");
+  int g2 = mj_name2id(model, mjOBJ_GEOM, "box2");
 
   mjCCDStatus status;
   std::vector<mjtNum> dir, pos;
@@ -1641,20 +1618,9 @@ TEST_F(MjGjkTest, BoxEdge2) {
 TEST_F(MjGjkTest, BoxEdgeEdge) {
   static constexpr char xml[] = R"(
   <mujoco>
-    <option>
-      <flag nativeccd="enable" multiccd="enable"/>
-    </option>
-
     <worldbody>
-      <geom type="box" name="box1" size="5 5 .1" pos="0 0 -.1"/>
-      <body pos="-2 0 2.99" euler="0 10 0">
-        <freejoint/>
-        <geom type="box" name="box2" size=".15 1 3"/>
-      </body>
-      <body pos="2 0 2.99" euler="0 -10 0">
-        <freejoint/>
-        <geom type="box" name="box3" size=".15 1 3"/>
-      </body>
+      <geom type="box" name="box1" size=".15 1 3"/>
+      <geom type="box" name="box2" size=".15 1 3"/>
     </worldbody>
   </mujoco>)";
 
@@ -1665,8 +1631,8 @@ TEST_F(MjGjkTest, BoxEdgeEdge) {
   mjData* data = mj_makeData(model);
   mj_forward(model, data);
 
-  mjtNum* xmat = data->geom_xmat + 9;
-  mjtNum* xpos = data->geom_xpos + 3;
+  mjtNum* xmat = data->geom_xmat;
+  mjtNum* xpos = data->geom_xpos;
 
   xmat[0] = 0.9182779243587342321575306414160877466202;
   xmat[1] = -0.0000000000000000000364268564068890756444;
@@ -1682,8 +1648,8 @@ TEST_F(MjGjkTest, BoxEdgeEdge) {
   xpos[1] = 0.0000000000000000007148993364299687318184;
   xpos[2] = 2.8141526153588731773425024584867060184479;
 
-  xmat = data->geom_xmat + 18;
-  xpos = data->geom_xpos + 6;
+  xmat = data->geom_xmat + 9;
+  xpos = data->geom_xpos + 3;
 
   xmat[0] = 0.9182779243587342321575306414160877466202;
   xmat[1] = 0.0000000000000000000728398144756416399722;
@@ -1699,8 +1665,8 @@ TEST_F(MjGjkTest, BoxEdgeEdge) {
   xpos[1] = -0.0000000000000000008679606505055748997840;
   xpos[2] = 2.8141526153588731773425024584867060184479;
 
-  int g1 = mj_name2id(model, mjOBJ_GEOM, "box2");
-  int g2 = mj_name2id(model, mjOBJ_GEOM, "box3");
+  int g1 = mj_name2id(model, mjOBJ_GEOM, "box1");
+  int g2 = mj_name2id(model, mjOBJ_GEOM, "box2");
 
   mjCCDStatus status;
   std::vector<mjtNum> dir, pos;
@@ -1715,30 +1681,15 @@ TEST_F(MjGjkTest, BoxEdgeEdge) {
 TEST_F(MjGjkTest, MeshEdge) {
   static constexpr char xml[] = R"(
   <mujoco>
-    <option>
-      <flag nativeccd="enable" multiccd="enable"/>
-    </option>
     <asset>
       <mesh name="smallbox"
         vertex="-1 -1 -1  1 -1 -1   1  1 -1
                  1  1  1  1 -1  1  -1  1 -1
                 -1  1  1 -1 -1  1"/>
-      <mesh name="floor"
-        vertex="-1 -1 -1  1 -1 -1  1  1 -1
-                 1  1  1  1 -1  1 -1  1 -1
-                -1  1  1 -1 -1  1"
-        scale="5 5 1"/>
     </asset>
     <worldbody>
-      <geom type="mesh" name="box1" mesh="floor" pos="0 0 0"/>
-      <body pos="0 0 2">
-        <freejoint/>
-        <geom type="mesh" mesh="smallbox" name="box2" size="1 1 1"/>
-      </body>
-      <body pos="0 0 4.4" euler="0 90 40">
-        <freejoint/>
-        <geom type="mesh" mesh="smallbox" name="box3" size="1 1 1"/>
-      </body>
+      <geom type="mesh" mesh="smallbox" name="box1" size="1 1 1" pos="0 0 2"/>
+      <geom type="mesh" mesh="smallbox" name="box2" size="1 1 1" pos="0 0 4.4" euler="0 90 40"/>
     </worldbody>
   </mujoco>)";
 
@@ -1749,8 +1700,8 @@ TEST_F(MjGjkTest, MeshEdge) {
   mjData* data = mj_makeData(model);
   mj_forward(model, data);
 
-  int g1 = mj_name2id(model, mjOBJ_GEOM, "box2");
-  int g2 = mj_name2id(model, mjOBJ_GEOM, "box3");
+  int g1 = mj_name2id(model, mjOBJ_GEOM, "box1");
+  int g2 = mj_name2id(model, mjOBJ_GEOM, "box2");
 
   mjCCDStatus status;
   std::vector<mjtNum> dir, pos;
@@ -1765,10 +1716,6 @@ TEST_F(MjGjkTest, MeshEdge) {
 TEST_F(MjGjkTest, MeshEdge2) {
   static constexpr char xml[] = R"(
   <mujoco>
-    <option>
-      <flag multiccd="enable"/>
-    </option>
-
     <asset>
       <mesh name="meshbox"
             vertex="-1 -1 -1