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Particles with arbitrary geoms and joints.

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Fixes #553

PiperOrigin-RevId: 486614769
Change-Id: I9a09bf73da97b6b9746800a72ac6c97cce2efa92
This commit is contained in:
Alessio Quaglino
2022-11-07 03:21:36 -08:00
committed by Copybara-Service
parent fd4d47e4a5
commit 3b89b0fd30
10 changed files with 283 additions and 51 deletions
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doc/XMLreference.rst
+11 -6
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@@ -2296,10 +2296,11 @@ coordinates results in compiler error. See :ref:`CComposite` in the modeling gui
This attribute determines the type of composite object. The remaining attributes and sub-elements are then
interpreted according to the type. Default settings are also adjusted depending on the type.
The **particle** type creates a 1D, 2D or 3D grid of equally-spaced bodies. Each body has a single sphere geom and 3
orthogonal sliding joints, allowing translation but not rotation. The geom condim and priority attributes are set to
1 by default. This makes the spheres have frictionless contacts with all other geoms (unless the priority of some
frictional geom is higher).
The **particle** type creates a 1D, 2D or 3D grid of equally-spaced bodies. By default, each body has a single sphere
geom and 3 orthogonal sliding joints, allowing translation but not rotation. The geom condim and priority attributes
are set to 1 by default. This makes the spheres have frictionless contacts with all other geoms (unless the priority
of some frictional geom is higher). The user can replace the default sliders with multiple joints of kind="particle"
and replace the default sphere with a custom geom.
The **grid** type creates a 1D or 2D grid of bodies, each having a sphere geom, a sphere site, and 3 orthogonal
sliding joints by default. The :el:`pin` sub-element can be used to specify that some bodies should not have joints,
@@ -2403,7 +2404,7 @@ Depending on the composite type, some joints are created automatically (e.g. the
joints are optional (e.g. the stretch and twist joints in rope). This sub-element is used to specify which optional
joints should be created, as well as to adjust the attributes of both automatic and optional joints.
:at:`kind`: :at-val:`[main, twist, stretch], required`
:at:`kind`: :at-val:`[main, twist, stretch, particle], required`
The joint kind here is orthogonal to the joint type in the rest of MJCF. The joint kind refers to the function of the
joint within the mechanism comprising the composite body, while the joint type (hinge or slide) is implied by the
joint kind and composite body type.
@@ -2420,6 +2421,10 @@ joints should be created, as well as to adjust the attributes of both automatic
The **stretch** kind corresponds to slide joints enabling rope, loop and cloth objects to stretch. These are optional
joints and are only created if this sub-element is present. This sub-element is also used to adjust the attributes of
the optional stretch joints. For other composite object types this sub-element has no effect.
The **particle** kind can only be used with the particle composite type. As opposed to all previous kinds, this kind
*replaces* the default 3 sliders with user-defined joints. User-defined joints can be repeated, for example
to create planar particles with two sliders and a hinge.
:at:`solreffix`, :at:`solimpfix`
These are the solref and solimp attributes used to equality-constrain the joint. Whether or not a given joint is
quality-constrained depends on the joint kind and composite object type as explained above. For joints that are not
@@ -2429,7 +2434,7 @@ joints should be created, as well as to adjust the attributes of both automatic
.. |body/composite/joint attrib list| replace::
:at:`group`, :at:`stiffness`, :at:`damping`, :at:`armature`, :at:`limited`, :at:`range`, :at:`margin`,
:at:`solreflimit`, :at:`solimplimit`, :at:`frictionloss`, :at:`solreffriction`, :at:`solimpfriction`
:at:`solreflimit`, :at:`solimplimit`, :at:`frictionloss`, :at:`solreffriction`, :at:`solimpfriction`, :at:`type`
|body/composite/joint attrib list|
Same meaning as regular :ref:`joint <body-joint>` attributes.
doc/XMLschema.rst
+5 -3
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@@ -746,11 +746,13 @@
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`damping` | :at:`armature` | :at:`solreffix` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solimpfix` | :at:`limited` | :at:`range` | |
| | | | :at:`solimpfix` | :at:`type` | :at:`axis` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`margin` | :at:`solreflimit` | :at:`solimplimit` | |
| | | | :at:`limited` | :at:`range` | :at:`margin` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`frictionloss` | :at:`solreffriction` | :at:`solimpfriction` | |
| | | | :at:`solreflimit` | :at:`solimplimit` | :at:`frictionloss` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solreffriction` | :at:`solimpfriction` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:ref:`tendon | \* | .. table:: |
doc/changelog.rst
+5
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@@ -34,6 +34,11 @@ General
for dyntype :at-val:`user`, as native activation dynamics are all scalar. Added example test implementing 2nd-order
activation dynamics to
`engine_forward_test.cc <https://github.com/deepmind/mujoco/blob/main/test/engine/engine_forward_test.cc>`_.
- Improved particle :ref:`composite<body-composite>` type, which now permits a user-specified geometry and multiple
joints. See the two new examples:
`particle_free.xml <https://github.com/deepmind/mujoco/tree/main/model/composite/particle_free.xml>`_ and
`particle_free2d.xml <https://github.com/deepmind/mujoco/tree/main/model/composite/particle_free2d.xml>`_
Version 2.3.0 (October 18, 2022)
--------------------------------
model/composite/particle_free.xml
+43
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@@ -0,0 +1,43 @@
<!-- 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.
-->
<mujoco model="Particle">
<include file="scene.xml"/>
<option solver="CG" tolerance="1e-6" timestep=".01"/>
<size nconmax="6000" njmax="6000" nstack="50000000"/>
<visual>
<map stiffness="100"/>
</visual>
<default>
<default class="wall">
<geom type="plane" size=".5 .5 .05"/>
</default>
</default>
<worldbody>
<geom name="+x" class="wall" zaxis="1 0 0" pos="-.5 0 -.25"/>
<geom name="-x" class="wall" zaxis="-1 0 0" pos=".5 0 -.25"/>
<geom name="+y" class="wall" zaxis="0 1 0" pos="0 -.5 -.25"/>
<geom name="-y" class="wall" zaxis="0 -1 0" pos="0 .5 -.25"/>
<composite type="particle" count="3 3 3" spacing="0.07" offset="0 0 1">
<geom type="box" size=".025 .025 .025" rgba=".8 .2 .1 1" condim="3"/>
<joint kind="particle" type="free"/>
</composite>
</worldbody>
</mujoco>
model/composite/particle_free2d.xml
+45
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@@ -0,0 +1,45 @@
<!-- 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.
-->
<mujoco model="Particle">
<include file="scene.xml"/>
<option solver="CG" tolerance="1e-6" timestep=".01"/>
<size nconmax="6000" njmax="6000" nstack="50000000"/>
<visual>
<map stiffness="100"/>
</visual>
<default>
<default class="wall">
<geom type="plane" size=".5 .5 .05"/>
</default>
</default>
<worldbody>
<geom name="+x" class="wall" zaxis="1 0 0" pos="-.5 0 -.25"/>
<geom name="-x" class="wall" zaxis="-1 0 0" pos=".5 0 -.25"/>
<geom name="+y" class="wall" zaxis="0 1 0" pos="0 -.5 -.25"/>
<geom name="-y" class="wall" zaxis="0 -1 0" pos="0 .5 -.25"/>
<composite type="particle" count="15 15 1" spacing="0.06" offset="0 0 .1">
<geom type="ellipsoid" size=".025 .02 .015" rgba=".8 .2 .1 1"/>
<joint kind="particle" type="slide" axis="1 0 0"/>
<joint kind="particle" type="slide" axis="0 1 0"/>
<joint kind="particle" type="hinge" axis="0 0 1"/>
</composite>
</worldbody>
</mujoco>
src/user/user_composite.cc
+48 -20
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@@ -102,6 +102,23 @@ void mjCComposite::AdjustSoft(mjtNum* solref, mjtNum* solimp, int level) {
// create the array of default joint options, append new elements only for particles type
bool mjCComposite::AddDefaultJoint(char* error, int error_sz) {
for (int i=0; i<mjNCOMPKINDS; i++) {
if (!defjoint[(mjtCompKind)i].empty() && type!=mjCOMPTYPE_PARTICLE) {
comperr(error, "Only particles are allowed to have multiple joints", error_sz);
return false;
} else {
mjCDef jnt;
jnt.joint.group = 3;
defjoint[(mjtCompKind)i].push_back(jnt);
}
}
return true;
}
// set defaults, after reading top-level info and skin
void mjCComposite::SetDefault(void) {
int i;
@@ -118,10 +135,12 @@ void mjCComposite::SetDefault(void) {
for (int i=0; i<mjNCOMPKINDS; i++) {
def[i].geom.group = 3;
def[i].site.group = 3;
def[i].joint.group = 3;
def[i].tendon.group = 3;
}
// set default joint
AddDefaultJoint();
// set default geom and tendon group to 0 if needed to be visible
if (!skin ||
type==mjCOMPTYPE_PARTICLE ||
@@ -204,7 +223,7 @@ bool mjCComposite::Make(mjCModel* model, mjCBody* body, char* error, int error_s
if ((def[0].geom.type!=mjGEOM_SPHERE &&
def[0].geom.type!=mjGEOM_CAPSULE &&
def[0].geom.type!=mjGEOM_ELLIPSOID) &&
type!=mjCOMPTYPE_CABLE) {
type!=mjCOMPTYPE_PARTICLE && type!=mjCOMPTYPE_CABLE) {
return comperr(error, "Composite geom type must be sphere, capsule or ellipsoid", error_sz);
}
@@ -303,20 +322,29 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjCBody* body, char* error, int
b->pos[1] = offset[1] + spacing*(iy - 0.5*count[1]);
b->pos[2] = offset[2] + spacing*(iz - 0.5*count[2]);
// add slider joints
for (int i=0; i<3; i++) {
mjCJoint* jnt = b->AddJoint(def + mjCOMPKIND_JOINT, false);
jnt->def = body->def;
jnt->type = mjJNT_SLIDE;
mjuu_setvec(jnt->pos, 0, 0, 0);
mjuu_setvec(jnt->axis, 0, 0, 0);
jnt->axis[i] = 1;
// add slider joints if none defined
if (!add[mjCOMPKIND_PARTICLE]) {
for (int i=0; i<3; i++) {
mjCJoint* jnt = b->AddJoint(&defjoint[mjCOMPKIND_JOINT][0], false);
jnt->def = body->def;
jnt->type = mjJNT_SLIDE;
mjuu_setvec(jnt->pos, 0, 0, 0);
mjuu_setvec(jnt->axis, 0, 0, 0);
jnt->axis[i] = 1;
}
}
// add user-specified joints
else {
for (auto defjnt : defjoint[mjCOMPKIND_PARTICLE]) {
mjCJoint* jnt = b->AddJoint(&defjnt, false);
jnt->def = body->def;
}
}
// add geom
mjCGeom* g = b->AddGeom(def);
g->def = body->def;
g->type = mjGEOM_SPHERE;
}
}
}
@@ -387,7 +415,7 @@ bool mjCComposite::MakeGrid(mjCModel* model, mjCBody* body, char* error, int err
// add slider joint
mjCJoint* jnt[3];
for (int i=0; i<3; i++) {
jnt[i] = b->AddJoint(def + mjCOMPKIND_JOINT);
jnt[i] = b->AddJoint(&defjoint[mjCOMPKIND_JOINT][0]);
jnt[i]->def = body->def;
mju::sprintf_arr(txt, "%sJ%d_%d_%d", prefix.c_str(), i, ix, iy);
jnt[i]->name = txt;
@@ -611,7 +639,7 @@ mjCBody* mjCComposite::AddCableBody(mjCModel* model, mjCBody* body, int ix, mjtN
// add curvature joint
if (!first || strcmp(initial.c_str(), "none")) {
mjCJoint* jnt = body->AddJoint(def + mjCOMPKIND_JOINT);
mjCJoint* jnt = body->AddJoint(&defjoint[mjCOMPKIND_JOINT][0]);
jnt->def = body->def;
jnt->type = (first && strcmp(initial.c_str(), "free")==0) ? mjJNT_FREE : mjJNT_BALL;
jnt->damping = jnt->type==mjJNT_FREE ? 0 : jnt->damping;
@@ -754,7 +782,7 @@ mjCBody* mjCComposite::AddRopeBody(mjCModel* model, mjCBody* body, int ix, int i
// add main joint
for (int i=0; i<2; i++) {
// add joint
mjCJoint* jnt = body->AddJoint(def + mjCOMPKIND_JOINT);
mjCJoint* jnt = body->AddJoint(&defjoint[mjCOMPKIND_JOINT][0]);
jnt->def = body->def;
mju::sprintf_arr(txt, "%sJ%d_%d", prefix.c_str(), i, ix1);
jnt->name = txt;
@@ -767,7 +795,7 @@ mjCBody* mjCComposite::AddRopeBody(mjCModel* model, mjCBody* body, int ix, int i
// add twist joint
if (add[mjCOMPKIND_TWIST]) {
// add joint
mjCJoint* jnt = body->AddJoint(def + mjCOMPKIND_TWIST);
mjCJoint* jnt = body->AddJoint(&defjoint[mjCOMPKIND_TWIST][0]);
jnt->def = body->def;
mju::sprintf_arr(txt, "%sJT%d", prefix.c_str(), ix1);
jnt->name = txt;
@@ -785,7 +813,7 @@ mjCBody* mjCComposite::AddRopeBody(mjCModel* model, mjCBody* body, int ix, int i
// add stretch joint
if (add[mjCOMPKIND_STRETCH]) {
// add joint
mjCJoint* jnt = body->AddJoint(def + mjCOMPKIND_STRETCH);
mjCJoint* jnt = body->AddJoint(&defjoint[mjCOMPKIND_STRETCH][0]);
jnt->def = body->def;
mju::sprintf_arr(txt, "%sJS%d", prefix.c_str(), ix1);
jnt->name = txt;
@@ -1008,7 +1036,7 @@ mjCBody* mjCComposite::AddClothBody(mjCModel* model, mjCBody* body,
// add main joint
for (int i=0; i<2; i++) {
// add joint
mjCJoint* jnt = body->AddJoint(def + mjCOMPKIND_JOINT);
mjCJoint* jnt = body->AddJoint(&defjoint[mjCOMPKIND_JOINT][0]);
jnt->def = body->def;
mju::sprintf_arr(txt, "%sJ%d_%d_%d", prefix.c_str(), i, ix1, iy1);
jnt->name = txt;
@@ -1026,7 +1054,7 @@ mjCBody* mjCComposite::AddClothBody(mjCModel* model, mjCBody* body,
// add twist joint
if (add[mjCOMPKIND_TWIST]) {
mjCJoint* jnt = body->AddJoint(def + mjCOMPKIND_TWIST);
mjCJoint* jnt = body->AddJoint(&defjoint[mjCOMPKIND_TWIST][0]);
jnt->def = body->def;
mju::sprintf_arr(txt, "%sJT%d_%d", prefix.c_str(), ix1, iy1);
jnt->name = txt;
@@ -1048,7 +1076,7 @@ mjCBody* mjCComposite::AddClothBody(mjCModel* model, mjCBody* body,
// add stretch joint
if (add[mjCOMPKIND_STRETCH]) {
// add joint
mjCJoint* jnt = body->AddJoint(def + mjCOMPKIND_STRETCH);
mjCJoint* jnt = body->AddJoint(&defjoint[mjCOMPKIND_STRETCH][0]);
jnt->def = body->def;
mju::sprintf_arr(txt, "%sJS%d_%d", prefix.c_str(), ix1, iy1);
jnt->name = txt;
@@ -1174,7 +1202,7 @@ bool mjCComposite::MakeBox(mjCModel* model, mjCBody* body, char* error, int erro
}
// add slider joint
mjCJoint* jnt = b->AddJoint(def + mjCOMPKIND_JOINT);
mjCJoint* jnt = b->AddJoint(&defjoint[mjCOMPKIND_JOINT][0]);
jnt->def = body->def;
mju::sprintf_arr(txt, "%sJ%d_%d_%d", prefix.c_str(), ix, iy, iz);
jnt->name = txt;
src/user/user_composite.h
+6 -3
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@@ -15,8 +15,8 @@
#ifndef MUJOCO_SRC_USER_USER_COMPOSITE_H_
#define MUJOCO_SRC_USER_USER_COMPOSITE_H_
#include <map>
#include <string>
#include <unordered_map>
#include <vector>
#include <mujoco/mjmodel.h>
@@ -44,6 +44,7 @@ typedef enum _mjtCompKind {
mjCOMPKIND_STRETCH,
mjCOMPKIND_TENDON,
mjCOMPKIND_SHEAR,
mjCOMPKIND_PARTICLE,
mjNCOMPKINDS
} mjtCompKind;
@@ -64,6 +65,7 @@ class mjCComposite {
mjCComposite(void);
void SetDefault(void);
bool AddDefaultJoint(char* error = NULL, int error_sz = 0);
void AdjustSoft(mjtNum* solref, mjtNum* solimp, int level);
bool Make(mjCModel* model, mjCBody* body, char* error, int error_sz);
@@ -123,8 +125,9 @@ class mjCComposite {
int skingroup; // skin group of the composite object
// element options
bool add[mjNCOMPKINDS]; // add element
mjCDef def[mjNCOMPKINDS]; // defaults
bool add[mjNCOMPKINDS]; // add element
mjCDef def[mjNCOMPKINDS]; // default geom, site, tendon
std::unordered_map<mjtCompKind, std::vector<mjCDef> > defjoint; // default joints
// computed internally
int dim; // dimensionality
src/xml/xml_native_reader.cc
+37 -19
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@@ -263,8 +263,8 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"<"},
{"config", "*", "2", "key", "value"},
{">"},
{"joint", "*", "15", "kind", "group", "stiffness", "damping", "armature",
"solreffix", "solimpfix",
{"joint", "*", "17", "kind", "group", "stiffness", "damping", "armature",
"solreffix", "solimpfix", "type", "axis",
"limited", "range", "margin", "solreflimit", "solimplimit",
"frictionloss", "solreffriction", "solimpfriction"},
{"tendon", "*", "17", "kind", "group", "stiffness", "damping",
@@ -670,10 +670,11 @@ const mjMap comp_map[mjNCOMPTYPES] = {
// composite joint kind
const mjMap jkind_map[3] = {
const mjMap jkind_map[4] = {
{"main", mjCOMPKIND_JOINT},
{"twist", mjCOMPKIND_TWIST},
{"stretch", mjCOMPKIND_STRETCH}
{"stretch", mjCOMPKIND_STRETCH},
{"particle", mjCOMPKIND_PARTICLE}
};
@@ -1978,28 +1979,45 @@ void mjXReader::OneComposite(XMLElement* elem, mjCBody* pbody, mjCDef* def) {
while (ejnt) {
// kind
int kind;
MapValue(ejnt, "kind", &kind, jkind_map, 3, true);
MapValue(ejnt, "kind", &kind, jkind_map, 4, true);
// create a new element if this kind already exists
if (comp.add[kind]) {
char error[200];
if (!comp.AddDefaultJoint(error, 200)) {
throw mjXError(elem, error);
}
}
comp.add[kind] = true;
// get element
mjCDef *el = &comp.defjoint[(mjtCompKind)kind].back();
// particle joint
if (MapValue(ejnt, "type", &n, joint_map, joint_sz)) {
el->joint.type = (mjtJoint)n;
}
ReadAttr(ejnt, "axis", 3, el->joint.axis, text);
// solreffix, solimpfix
ReadAttr(ejnt, "solreffix", mjNREF, comp.def[kind].equality.solref, text, false, false);
ReadAttr(ejnt, "solimpfix", mjNIMP, comp.def[kind].equality.solimp, text, false, false);
ReadAttr(ejnt, "solreffix", mjNREF, el->equality.solref, text, false, false);
ReadAttr(ejnt, "solimpfix", mjNIMP, el->equality.solimp, text, false, false);
// joint attributes
MapValue(elem, "limited", &comp.def[kind].joint.limited, TFAuto_map, 3);
ReadAttrInt(ejnt, "group", &comp.def[kind].joint.group);
ReadAttr(ejnt, "solreflimit", mjNREF, comp.def[kind].joint.solref_limit, text, false, false);
ReadAttr(ejnt, "solimplimit", mjNIMP, comp.def[kind].joint.solimp_limit, text, false, false);
MapValue(elem, "limited", &el->joint.limited, TFAuto_map, 3);
ReadAttrInt(ejnt, "group", &el->joint.group);
ReadAttr(ejnt, "solreflimit", mjNREF, el->joint.solref_limit, text, false, false);
ReadAttr(ejnt, "solimplimit", mjNIMP, el->joint.solimp_limit, text, false, false);
ReadAttr(ejnt,
"solreffriction", mjNREF, comp.def[kind].joint.solref_friction, text, false, false);
"solreffriction", mjNREF, el->joint.solref_friction, text, false, false);
ReadAttr(ejnt,
"solimpfriction", mjNIMP, comp.def[kind].joint.solimp_friction, text, false, false);
ReadAttr(ejnt, "stiffness", 1, &comp.def[kind].joint.stiffness, text);
ReadAttr(ejnt, "range", 2, comp.def[kind].joint.range, text);
ReadAttr(ejnt, "margin", 1, &comp.def[kind].joint.margin, text);
ReadAttr(ejnt, "armature", 1, &comp.def[kind].joint.armature, text);
ReadAttr(ejnt, "damping", 1, &comp.def[kind].joint.damping, text);
ReadAttr(ejnt, "frictionloss", 1, &comp.def[kind].joint.frictionloss, text);
"solimpfriction", mjNIMP, el->joint.solimp_friction, text, false, false);
ReadAttr(ejnt, "stiffness", 1, &el->joint.stiffness, text);
ReadAttr(ejnt, "range", 2, el->joint.range, text);
ReadAttr(ejnt, "margin", 1, &el->joint.margin, text);
ReadAttr(ejnt, "armature", 1, &el->joint.armature, text);
ReadAttr(ejnt, "damping", 1, &el->joint.damping, text);
ReadAttr(ejnt, "frictionloss", 1, &el->joint.frictionloss, text);
// advance
ejnt = ejnt->NextSiblingElement("joint");
test/user/CMakeLists.txt
+3
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@@ -20,3 +20,6 @@ target_link_libraries(user_objects_test fixture gmock)
mujoco_test(user_mesh_test)
target_link_libraries(user_mesh_test fixture gmock absl::str_format)
mujoco_test(user_composite_test)
target_link_libraries(user_composite_test fixture gmock)
test/user/user_composite_test.cc
+80
View File
@@ -0,0 +1,80 @@
// 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_model.cc.
#include <cstddef>
#include <string>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <absl/strings/str_format.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mujoco.h>
#include "test/fixture.h"
namespace mujoco {
namespace {
using ::testing::IsNull;
using ::testing::NotNull;
using ::testing::HasSubstr;
using UserCompositeTest = MujocoTest;
// ------------- test automatic inference of nuser_xxx -------------------------
TEST_F(UserCompositeTest, MultipleJointsNotAllowedUnlessParticle) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<freejoint/>
<composite type="box" count="7 7 7" 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, StretchAndTwistAllowed) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body name="B10">
<freejoint/>
<composite type="rope" count="21 1 1" spacing="0.04">
<joint kind="main" damping="0.005"/>
<joint kind="stretch" damping="0.005"/>
<joint kind="twist" damping="0.005"/>
<geom type="capsule" size=".01 .015"/>
</composite>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, NotNull());
mj_deleteModel(m);
}
} // namespace
} // namespace mujoco