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Add convex collision test models.

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PiperOrigin-RevId: 643567019
Change-Id: I233553f04ea7d67216a2440f834362965d9e8c58
This commit is contained in:
Yuval Tassa
2024-06-15 01:37:10 -07:00
committed by Copybara-Service
parent 6a532fc53e
commit 86ef1746b0
6 changed files with 785 additions and 7 deletions
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test/engine/testdata/collision_convex/perf/boxmesh.xml
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<mujoco>
<option timestep="1e-3" gravity="-1 1 -10" solver="CG" iterations="10">
<flag multiccd="enable"/>
</option>
<visual>
<scale forcewidth="0.01" contactwidth="0.05" contactheight="0.05"/>
<map force="0.1"/>
</visual>
<asset>
<mesh name="box" scale=".025 .025 .025"
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="wall" scale=".5 .5 .1"
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"/>
</asset>
<default>
<geom condim="1" type="mesh" solref="2e-3 1"/>
<default class="free">
<geom mesh="box"/>
</default>
<default class="wall">
<geom mesh="wall" rgba=".5 .5 .8 1"/>
</default>
</default>
<worldbody>
<light pos="1 -1 1" dir="-1 1 -1"/>
<geom class="wall"/>
<geom class="wall" pos="-.6 0 .4" euler="0 90 0"/>
<geom class="wall" pos="-.2 .6 .4" euler="90 0 0"/>
<replicate count="5" offset=".06 0 0">
<replicate count="5" offset="0 .06 0">
<replicate count="4" offset="0 0 .06">
<body pos="-.1 -.2 0.15">
<freejoint/>
<geom class="free"/>
</body>
</replicate>
</replicate>
</replicate>
</worldbody>
</mujoco>
test/engine/testdata/collision_convex/perf/ellipsoid.xml
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<mujoco model="Container">
<statistic extent="1.5" meansize=".05"/>
<visual>
<rgba haze="0.15 0.25 0.35 1"/>
<map shadowscale="0.5" zfar="40"/>
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="64" height="64"/>
<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
<material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
</asset>
<default>
<geom condim="1" solref="2e-3 1"/>
</default>
<option timestep="1e-3" solver="CG" iterations="20"/>
<worldbody>
<light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5" castshadow="false"/>
<light diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4"/>
<geom name="ground" type="plane" size=".5 .5 .01" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>
<replicate count="4" euler="0 0 90">
<geom type="plane" size=".1 .5 .01" zaxis="1 0 0" pos="-.5 0 .1"/>
</replicate>
<replicate count="5" offset=".15 0 0">
<replicate count="5" offset="0 .15 0">
<replicate count="4" offset="0 0 .3">
<body pos="-.3 -.3 .3" euler="10 20 30">
<freejoint/>
<geom type="ellipsoid" size=".05 .07 .15"/>
</body>
</replicate>
</replicate>
</replicate>
</worldbody>
</mujoco>
test/engine/testdata/collision_convex/perf/spheremesh.xml
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<mujoco model="Container">
<statistic extent="1.5" meansize=".05"/>
<visual>
<rgba haze="0.15 0.25 0.35 1"/>
<map shadowscale="0.5" zfar="40"/>
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="64" height="64"/>
<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
<material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
</asset>
<default>
<geom condim="1" solref="2e-3 1"/>
</default>
<option timestep="1e-3" solver="CG" iterations="20"/>
<worldbody>
<light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5" castshadow="false"/>
<light diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4"/>
<geom name="ground" type="plane" size=".5 .5 .01" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>
<replicate count="4" euler="0 0 90">
<geom type="plane" size=".1 .5 .01" zaxis="1 0 0" pos="-.5 0 .1"/>
</replicate>
<replicate count="5" offset=".16 0 0">
<replicate count="5" offset="0 .16 0">
<replicate count="4" offset="0 0 .3">
<body pos="-.3 -.3 .3" euler="10 20 30">
<freejoint/>
<geom type="mesh" mesh="sphere"/>
</body>
</replicate>
</replicate>
</replicate>
</worldbody>
<asset>
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</asset>
</mujoco>
test/fixture.cc
+8 -5
View File
@@ -18,7 +18,7 @@
#include <cerrno>
#include <cstdio>
#include <cstring>
#include <filesystem>
#include <filesystem> // NOLINT
#include <fstream>
#include <limits>
#include <sstream>
@@ -31,7 +31,9 @@
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <absl/base/attributes.h>
#include <absl/base/const_init.h>
#include <absl/base/thread_annotations.h>
#include <absl/strings/str_cat.h>
#include <absl/strings/str_join.h>
#include <absl/synchronization/mutex.h>
@@ -72,11 +74,11 @@ MujocoErrorTestGuard::~MujocoErrorTestGuard() {
}
}
const std::string GetTestDataFilePath(std::string_view path) {
const std::string GetTestDataFilePath(std::string_view path) { // NOLINT
return std::string(path);
}
const std::string GetModelPath(std::string_view path) {
const std::string GetModelPath(std::string_view path) { // NOLINT
return absl::StrCat("../model/", path);
}
@@ -214,7 +216,7 @@ mjtNum CompareModel(const mjModel* m1, const mjModel* m2,
// compare arrays
#define X(type, name, nr, nc) \
for (int r = 0; r < m1->nr; r++) \
for (int r = 0; r < m1->nr; r++) { \
for (int c = 0; c < nc; c++) { \
dif = Compare(m1->name[r * nc + c], m2->name[r * nc + c]); \
if (dif > maxdif) { \
@@ -223,7 +225,8 @@ mjtNum CompareModel(const mjModel* m1, const mjModel* m2,
field += " row: " + std::to_string(r); \
field += " col: " + std::to_string(c); \
} \
} // NOLINT
} \
} // NOLINT
MJMODEL_POINTERS
#undef X
test/sample/testspeed_test.sh
+2 -1
View File
@@ -31,7 +31,8 @@ test_model() {
if [[ "$model" == */composite/particle.xml ||
"$model" == */replicate/bunnies.xml ||
"$model" == */replicate/leaves.xml ||
"$model" == */replicate/particle.xml
"$model" == */replicate/particle.xml ||
"$model" == */engine/testdata/collision_convex/perf/*
]]; then
# these tests can take several minutes under ASAN
return 0
test/xml/xml_native_writer_test.cc
+2 -1
View File
@@ -1277,7 +1277,8 @@ TEST_F(XMLWriterTest, WriteReadCompare) {
absl::StrContains(p.path().string(), "touch_grid") ||
absl::StrContains(p.path().string(), "gmsh_") ||
absl::StrContains(p.path().string(), "shark_") ||
absl::StrContains(p.path().string(), "cow")) {
absl::StrContains(p.path().string(), "cow") ||
absl::StrContains(p.path().string(), "spheremesh")) {
continue;
}