chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Fixed a bug that caused dim to be necessary in flexcomp even when it was inferred from GMSH files.

Browse Source 
Fixes #2107.

Co-authored-by: Alessio Quaglino <quaglino@google.com>
PiperOrigin-RevId: 684419740
Change-Id: Ia73e719bd37503563223ed92f4dbe0ae07eef300
This commit is contained in:
Mohammad Hamid
2024-10-10 06:19:40 -07:00
committed by Copybara-Service
parent 22e4f7fc31
commit 694bdebc19
5 changed files with 73 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/user/testdata/cube_22_ascii_vol_gmshApp_missing_dim.xml
Vendored
+26
View File
@@ -0,0 +1,26 @@
<mujoco model="gmsh">
<option timestep="0.01" integrator="implicitfast" solver="CG"/>
<asset>
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
</asset>
<visual>
<headlight diffuse="0.9 0.9 0.9" ambient="0.3 0.3 0.3" specular="0 0 0"/>
<map force="0.1" zfar="30"/>
<rgba haze="0.15 0.25 0.35 1"/>
<quality shadowsize="4096"/>
<global offwidth="800" offheight="800"/>
</visual>
<worldbody>
<geom name="floor" size="1 1 .05" type="plane" material="grid" condim="3"/>
<light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>
<flexcomp name="cube" type="gmsh" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 0.3"
mass="10" scale="1 1 1" file="cube_22_ascii_vol_gmshApp.msh">
<edge equality="true"/>
</flexcomp>
</worldbody>
</mujoco>
test/user/testdata/shark_22_ascii_fTetWild.xml → test/user/testdata/shark_22_ascii_vol_fTetWild.xml
Vendored
View File
test/user/testdata/shark_22_binary_fTetWild.xml → test/user/testdata/shark_22_binary_vol_fTetWild.xml
Vendored
View File
test/user/user_flex_test.cc
+30 -10
View File
@@ -243,7 +243,7 @@ TEST_F(UserFlexTest, RigidFlex) {
mj_deleteData(d);
}
TEST_F(UserFlexTest, LoadMSHBinaryGMSH_41_Success) {
TEST_F(UserFlexTest, LoadMSHBinary_41_Success) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/cube_41_binary_vol_gmshApp.xml");
std::array<char, 1024> error;
@@ -252,12 +252,13 @@ TEST_F(UserFlexTest, LoadMSHBinaryGMSH_41_Success) {
mjData* d = mj_makeData(m);
EXPECT_EQ(m->nflexvert, 14);
EXPECT_EQ(m->nflexelem, 24);
EXPECT_EQ(m->flex_dim[0], 3);
mj_step(m, d);
mj_deleteModel(m);
mj_deleteData(d);
}
TEST_F(UserFlexTest, LoadMSHBinaryGMSH_22_Success) {
TEST_F(UserFlexTest, LoadMSHBinary_22_Success) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/cube_22_binary_vol_gmshApp.xml");
std::array<char, 1024> error;
@@ -266,12 +267,13 @@ TEST_F(UserFlexTest, LoadMSHBinaryGMSH_22_Success) {
mjData* d = mj_makeData(m);
EXPECT_EQ(m->nflexvert, 14);
EXPECT_EQ(m->nflexelem, 24);
EXPECT_EQ(m->flex_dim[0], 3);
mj_step(m, d);
mj_deleteModel(m);
mj_deleteData(d);
}
TEST_F(UserFlexTest, LoadMSHSurfaceBinaryGMSH_41_Success) {
TEST_F(UserFlexTest, LoadMSHSurfaceBinary_41_Success) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/cube_41_binary_surf_gmshApp.xml");
std::array<char, 1024> error;
@@ -280,6 +282,7 @@ TEST_F(UserFlexTest, LoadMSHSurfaceBinaryGMSH_41_Success) {
mjData* d = mj_makeData(m);
EXPECT_EQ(m->nflexvert, 14);
EXPECT_EQ(m->nflexelem, 24);
EXPECT_EQ(m->flex_dim[0], 2);
// first node x y z
EXPECT_EQ(m->flex_xvert0[0], -0.5 );
@@ -296,7 +299,7 @@ TEST_F(UserFlexTest, LoadMSHSurfaceBinaryGMSH_41_Success) {
mj_deleteData(d);
}
TEST_F(UserFlexTest, LoadMSHSurfaceBinaryGMSH_22_Success) {
TEST_F(UserFlexTest, LoadMSHSurfaceBinary_22_Success) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/cube_22_binary_surf_gmshApp.xml");
std::array<char, 1024> error;
@@ -305,6 +308,7 @@ TEST_F(UserFlexTest, LoadMSHSurfaceBinaryGMSH_22_Success) {
mjData* d = mj_makeData(m);
EXPECT_EQ(m->nflexvert, 14);
EXPECT_EQ(m->nflexelem, 24);
EXPECT_EQ(m->flex_dim[0], 2);
// first node x y z
EXPECT_EQ(m->flex_xvert0[0], -0.5 );
@@ -323,19 +327,20 @@ TEST_F(UserFlexTest, LoadMSHSurfaceBinaryGMSH_22_Success) {
TEST_F(UserFlexTest, LoadMSHBinaryFTETWILD_22_Success) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/shark_22_binary_fTetWild.xml");
GetTestDataFilePath("user/testdata/shark_22_binary_vol_fTetWild.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
ASSERT_THAT(m, NotNull()) << error.data();
mjData* d = mj_makeData(m);
EXPECT_EQ(m->nflexvert, 429);
EXPECT_EQ(m->nflexelem, 1073);
EXPECT_EQ(m->flex_dim[0], 3);
mj_step(m, d);
mj_deleteModel(m);
mj_deleteData(d);
}
TEST_F(UserFlexTest, LoadMSHASCIIGMSH_41_Success) {
TEST_F(UserFlexTest, LoadMSHASCII_41_Success) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/cube_41_ascii_vol_gmshApp.xml");
std::array<char, 1024> error;
@@ -344,12 +349,13 @@ TEST_F(UserFlexTest, LoadMSHASCIIGMSH_41_Success) {
mjData* d = mj_makeData(m);
EXPECT_EQ(m->nflexvert, 14);
EXPECT_EQ(m->nflexelem, 24);
EXPECT_EQ(m->flex_dim[0], 3);
mj_step(m, d);
mj_deleteModel(m);
mj_deleteData(d);
}
TEST_F(UserFlexTest, LoadMSHASCIIGMSH_22_Success) {
TEST_F(UserFlexTest, LoadMSHASCII_22_Success) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/cube_22_ascii_vol_gmshApp.xml");
std::array<char, 1024> error;
@@ -358,12 +364,13 @@ TEST_F(UserFlexTest, LoadMSHASCIIGMSH_22_Success) {
mjData* d = mj_makeData(m);
EXPECT_EQ(m->nflexvert, 14);
EXPECT_EQ(m->nflexelem, 24);
EXPECT_EQ(m->flex_dim[0], 3);
mj_step(m, d);
mj_deleteModel(m);
mj_deleteData(d);
}
TEST_F(UserFlexTest, LoadMSHSurfaceASCIIGMSH_41_Success) {
TEST_F(UserFlexTest, LoadMSHSurfaceASCII_41_Success) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/cube_41_ascii_surf_gmshApp.xml");
std::array<char, 1024> error;
@@ -372,6 +379,7 @@ TEST_F(UserFlexTest, LoadMSHSurfaceASCIIGMSH_41_Success) {
mjData* d = mj_makeData(m);
EXPECT_EQ(m->nflexvert, 14);
EXPECT_EQ(m->nflexelem, 24);
EXPECT_EQ(m->flex_dim[0], 2);
// first node x y z
EXPECT_EQ(m->flex_xvert0[0], -0.5 );
@@ -388,7 +396,7 @@ TEST_F(UserFlexTest, LoadMSHSurfaceASCIIGMSH_41_Success) {
mj_deleteData(d);
}
TEST_F(UserFlexTest, LoadMSHSurfaceASCIIGMSH_22_Success) {
TEST_F(UserFlexTest, LoadMSHSurfaceASCII_22_Success) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/cube_22_ascii_surf_gmshApp.xml");
std::array<char, 1024> error;
@@ -397,6 +405,7 @@ TEST_F(UserFlexTest, LoadMSHSurfaceASCIIGMSH_22_Success) {
mjData* d = mj_makeData(m);
EXPECT_EQ(m->nflexvert, 14);
EXPECT_EQ(m->nflexelem, 24);
EXPECT_EQ(m->flex_dim[0], 2);
// first node x y z
EXPECT_EQ(m->flex_xvert0[0], -0.5 );
@@ -415,13 +424,14 @@ TEST_F(UserFlexTest, LoadMSHSurfaceASCIIGMSH_22_Success) {
TEST_F(UserFlexTest, LoadMSHASCIIFTETWILD_22_Success) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/shark_22_ascii_fTetWild.xml");
GetTestDataFilePath("user/testdata/shark_22_ascii_vol_fTetWild.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
ASSERT_THAT(m, NotNull()) << error.data();
mjData* d = mj_makeData(m);
EXPECT_EQ(m->nflexvert, 425);
EXPECT_EQ(m->nflexelem, 1070);
EXPECT_EQ(m->flex_dim[0], 3);
mj_step(m, d);
mj_deleteModel(m);
mj_deleteData(d);
@@ -517,5 +527,15 @@ TEST_F(UserFlexTest, LoadMSHASCII_22_MissingElement_Fail) {
mj_deleteModel(m);
}
TEST_F(UserFlexTest, LoadMSHASCII_dim_missing_in_xml) {
const std::string xml_path =
GetTestDataFilePath(
"user/testdata/cube_22_ascii_vol_gmshApp_missing_dim.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
EXPECT_EQ(m->flex_dim[0], 3);
mj_deleteModel(m);
}
} // namespace
} // namespace mujoco