Add Flex component.
PiperOrigin-RevId: 572830650 Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
This commit is contained in:
Alessio Quaglino
committed by
Saran Tunyasuvunakool
Saran Tunyasuvunakool
parent
649a474788
commit
5a70ad08ab
@@ -0,0 +1,231 @@
|
||||
// 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 <array>
|
||||
#include <string>
|
||||
|
||||
#include <gmock/gmock.h>
|
||||
#include <gtest/gtest.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 UserFlexTest = MujocoTest;
|
||||
|
||||
|
||||
TEST_F(UserFlexTest, ParentMustHaveName) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<flexcomp/>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
)";
|
||||
std::array<char, 1024> error;
|
||||
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
|
||||
EXPECT_THAT(m, IsNull());
|
||||
EXPECT_THAT(error.data(), HasSubstr("required attribute missing: 'name'"));
|
||||
}
|
||||
|
||||
TEST_F(UserFlexTest, InvalidDim) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<flexcomp name="test" dim="4"/>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
)";
|
||||
std::array<char, 1024> error;
|
||||
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
|
||||
EXPECT_THAT(m, IsNull());
|
||||
EXPECT_THAT(error.data(), HasSubstr("Invalid dim, must be between 1 and 3"));
|
||||
}
|
||||
|
||||
TEST_F(UserFlexTest, CountTooSmall) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<flexcomp name="test" count="2 2 0"/>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
)";
|
||||
std::array<char, 1024> error;
|
||||
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
|
||||
EXPECT_THAT(m, IsNull());
|
||||
EXPECT_THAT(error.data(), HasSubstr("Count too small"));
|
||||
}
|
||||
|
||||
TEST_F(UserFlexTest, SpacingGreaterThanGeometry) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<flexcomp name="test" spacing="0.5 0.5 0.5" radius="1"/>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
)";
|
||||
std::array<char, 1024> error;
|
||||
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
|
||||
EXPECT_THAT(m, IsNull()) << error.data();
|
||||
EXPECT_THAT(error.data(),
|
||||
HasSubstr("Spacing must be larger than geometry size"));
|
||||
}
|
||||
|
||||
TEST_F(UserFlexTest, ScaleMinValue) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<flexcomp name="test" scale="0 1 1"/>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
)";
|
||||
std::array<char, 1024> error;
|
||||
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
|
||||
EXPECT_THAT(m, IsNull()) << error.data();
|
||||
EXPECT_THAT(error.data(), HasSubstr("Scale must be larger than mjMINVAL"));
|
||||
}
|
||||
|
||||
TEST_F(UserFlexTest, MassMinValue) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<flexcomp name="test" mass="0"/>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
)";
|
||||
std::array<char, 1024> error;
|
||||
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
|
||||
EXPECT_THAT(m, IsNull()) << error.data();
|
||||
EXPECT_THAT(error.data(),
|
||||
HasSubstr("Mass and inertiabox must be larger than mjMINVAL"));
|
||||
}
|
||||
|
||||
TEST_F(UserFlexTest, PointSizeNotMultipleOf3) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<flexcomp name="test" point="0 0 0 0"/>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
)";
|
||||
std::array<char, 1024> error;
|
||||
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
|
||||
EXPECT_THAT(m, IsNull()) << error.data();
|
||||
EXPECT_THAT(error.data(), HasSubstr("Point size must be a multiple of 3"));
|
||||
}
|
||||
|
||||
TEST_F(UserFlexTest, ElementSize) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<flexcomp name="test" point="0 0 0" element="0 1 2" dim="3"/>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
)";
|
||||
std::array<char, 1024> error;
|
||||
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
|
||||
EXPECT_THAT(m, IsNull()) << error.data();
|
||||
EXPECT_THAT(error.data(),
|
||||
HasSubstr("Element size must be a multiple of dim+1"));
|
||||
}
|
||||
|
||||
TEST_F(UserFlexTest, PointAndElementNotInDirect) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<flexcomp name="test" type="direct"/>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
)";
|
||||
std::array<char, 1024> error;
|
||||
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
|
||||
EXPECT_THAT(m, IsNull()) << error.data();
|
||||
EXPECT_THAT(error.data(), HasSubstr("Point and element required"));
|
||||
}
|
||||
|
||||
TEST_F(UserFlexTest, UknownFlexCompType) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<flexcomp name="test" type="unknown"/>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
)";
|
||||
std::array<char, 1024> error;
|
||||
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
|
||||
EXPECT_THAT(m, IsNull()) << error.data();
|
||||
EXPECT_THAT(error.data(), HasSubstr("invalid keyword: 'unknown'"));
|
||||
}
|
||||
|
||||
TEST_F(UserFlexTest, InvalidPinid) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<flexcomp name="test" type="direct" point="0 0 0" element="0 1 2">
|
||||
<pin id="1"/>
|
||||
</flexcomp>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
)";
|
||||
std::array<char, 1024> error;
|
||||
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
|
||||
EXPECT_THAT(m, IsNull()) << error.data();
|
||||
EXPECT_THAT(error.data(),
|
||||
HasSubstr("element 1 has point id 1, number of points is 1"));
|
||||
}
|
||||
|
||||
TEST_F(UserFlexTest, MeshFileMissing) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<flexcomp name="test" type="mesh"/>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
)";
|
||||
std::array<char, 1024> error;
|
||||
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
|
||||
EXPECT_THAT(m, IsNull()) << error.data();
|
||||
EXPECT_THAT(error.data(), HasSubstr("File is required"));
|
||||
}
|
||||
|
||||
TEST_F(UserFlexTest, VertexOrFaceDataMissing) {
|
||||
const std::string xml_path =
|
||||
GetTestDataFilePath("user/testdata/malformed_flex_nofaces.xml");
|
||||
std::array<char, 1024> error;
|
||||
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
|
||||
EXPECT_THAT(m, IsNull()) << error.data();
|
||||
EXPECT_THAT(error.data(), HasSubstr("Vertex and face data required"));
|
||||
}
|
||||
|
||||
TEST_F(UserFlexTest, CreateBVHSuccess) {
|
||||
const std::string xml_path =
|
||||
GetTestDataFilePath("user/testdata/robot_arm.xml");
|
||||
std::array<char, 1024> error;
|
||||
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
|
||||
mjData* d = mj_makeData(m);
|
||||
EXPECT_THAT(m, NotNull()) << error.data();
|
||||
mj_step(m, d);
|
||||
mj_deleteModel(m);
|
||||
mj_deleteData(d);
|
||||
}
|
||||
|
||||
} // namespace
|
||||
} // namespace mujoco
|
||||
Reference in New Issue
Block a user