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Add plugins to flex parent body if there are pinned vertices.

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Fixes #1270.

PiperOrigin-RevId: 595429578
Change-Id: Ifc61d4bde4dd3c6b4d4a09106152de1d24e71ef0
This commit is contained in:
Alessio Quaglino
2024-01-03 09:52:30 -08:00
committed by Copybara-Service
parent 2940b934fe
commit 63ec34f9f8
4 changed files with 71 additions and 26 deletions
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test/plugin/elasticity/elasticity_test.cc
+55 -24
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@@ -31,6 +31,38 @@ namespace {
using ElasticityTest = PluginTest;
// -------------------------------- flex ------------------------------------
TEST_F(ElasticityTest, FlexCompatibility) {
static constexpr char flex_xml[] = R"(
<mujoco>
<extension>
<plugin plugin="mujoco.elasticity.solid"/>
</extension>
<worldbody>
<body name="parent">
<flexcomp name="soft" type="grid" count="3 3 3"
radius="0.01" dim="3"mass="1">
<pin id="2"/>
<plugin plugin="mujoco.elasticity.solid">
<config key="poisson" value="0.2"/>
<config key="young" value="5e4"/>
</plugin>
</flexcomp>
</body>
</worldbody>
</mujoco>
)";
char error[1024] = {0};
mjModel* m = LoadModelFromString(flex_xml, error, sizeof(error));
ASSERT_THAT(m, testing::NotNull()) << error;
mjData* d = mj_makeData(m);
mj_deleteData(d);
mj_deleteModel(m);
}
// -------------------------------- shell -----------------------------------
TEST_F(ElasticityTest, ElasticEnergyShell) {
static constexpr char cantilever_xml[] = R"(
@@ -144,6 +176,29 @@ TEST_F(PluginTest, ElasticEnergyMembrane) {
mj_deleteModel(m);
}
TEST_F(ElasticityTest, InvalidThickness) {
static constexpr char xml[] = R"(
<mujoco>
<extension>
<plugin plugin="mujoco.elasticity.shell"/>
</extension>
<worldbody>
<composite type="particle" count="2 2 1" spacing="1">
<geom size=".025"/>
<plugin plugin="mujoco.elasticity.shell">
<config key="thickness" value="hello"/>
</plugin>
</composite>
</worldbody>
</mujoco>
)";
char error[1024] = {0};
mjModel* m = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(m, testing::IsNull());
}
// -------------------------------- solid -----------------------------------
TEST_F(ElasticityTest, ElasticEnergySolid) {
static constexpr char cantilever_xml[] = R"(
@@ -202,7 +257,6 @@ TEST_F(ElasticityTest, ElasticEnergySolid) {
}
// -------------------------------- cable -----------------------------------
TEST_F(ElasticityTest, CantileverIntoCircle) {
static constexpr char cantilever_xml[] = R"(
<mujoco>
@@ -303,29 +357,6 @@ TEST_F(ElasticityTest, InvalidMixedAttribute) {
ASSERT_THAT(m, testing::IsNull());
}
TEST_F(ElasticityTest, InvalidThickness) {
static constexpr char xml[] = R"(
<mujoco>
<extension>
<plugin plugin="mujoco.elasticity.shell"/>
</extension>
<worldbody>
<composite type="particle" count="2 2 1" spacing="1">
<geom size=".025"/>
<plugin plugin="mujoco.elasticity.shell">
<config key="thickness" value="hello"/>
</plugin>
</composite>
</worldbody>
</mujoco>
)";
char error[1024] = {0};
mjModel* m = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(m, testing::IsNull());
}
TEST_F(ElasticityTest, ValidAttributes) {
static constexpr char cantilever_xml[] = R"(
<mujoco>