From a29f67c850ba5121e05e9740dd6a48220fa19a9e Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 29 Jul 2024 08:23:41 -0700
Subject: [PATCH] Add test models for tendon wrapping.

PiperOrigin-RevId: 657208035
Change-Id: Ib82bd2b31a15d1386f8096b280def9e7325c8e46
---
 .../core_smooth/tendon_wrap_cylinder.xml      | 56 +++++++++++++++++++
 .../core_smooth/tendon_wrap_sphere.xml        | 56 +++++++++++++++++++
 2 files changed, 112 insertions(+)
 create mode 100644 test/engine/testdata/core_smooth/tendon_wrap_cylinder.xml
 create mode 100644 test/engine/testdata/core_smooth/tendon_wrap_sphere.xml

diff --git a/test/engine/testdata/core_smooth/tendon_wrap_cylinder.xml b/test/engine/testdata/core_smooth/tendon_wrap_cylinder.xml
new file mode 100644
index 00000000..fa70af44
--- /dev/null
+++ b/test/engine/testdata/core_smooth/tendon_wrap_cylinder.xml
@@ -0,0 +1,56 @@
+<mujoco>
+  <default>
+    <site size=".015" rgba="1 0 0 1"/>
+  </default>
+
+  <worldbody>
+    <light pos="0 0 3"/>
+    <geom type="plane" size="2 2 .1"/>
+
+    <site name="0a" pos="0 0 1"/>
+    <geom name="0g" type="cylinder" size=".05 .2" zaxis="0 1 .2" pos="0 0 0.5"/>
+    <body pos="0 0 .1">
+      <freejoint/>
+      <geom size=".05"/>
+      <site name="0b" pos="0 0 .05"/>
+    </body>
+
+    <site name="1a" pos=".4 0 1"/>
+    <geom name="1g" type="cylinder" size=".05 .2" zaxis="0 1 .2" pos=".4 0 0.5"/>
+    <site name="1s" pos=".52 0 .5"/>
+    <body pos=".4 0 .1">
+      <freejoint/>
+      <geom size=".05"/>
+      <site name="1b" pos="0 0 .05"/>
+    </body>
+
+    <site name="2a" pos="-.4 0 1"/>
+    <geom name="2g" type="cylinder" size=".05 .2" zaxis="0 1 .2" pos="-.4 0 0.5"/>
+    <site name="2s" pos="-.44 0 .5"/>
+    <body pos="-.4 0 .1">
+      <freejoint/>
+      <geom size=".05"/>
+      <site name="2b" pos="0 0 .05"/>
+    </body>
+  </worldbody>
+
+  <tendon>
+    <spatial range="0 0.8">
+      <site site="0a"/>
+      <geom geom="0g"/>
+      <site site="0b"/>
+    </spatial>
+
+    <spatial range="0 0.8">
+      <site site="1a"/>
+      <geom geom="1g" sidesite="1s"/>
+      <site site="1b"/>
+    </spatial>
+
+    <spatial range="0 0.8">
+      <site site="2a"/>
+      <geom geom="2g" sidesite="2s"/>
+      <site site="2b"/>
+    </spatial>
+  </tendon>
+</mujoco>
diff --git a/test/engine/testdata/core_smooth/tendon_wrap_sphere.xml b/test/engine/testdata/core_smooth/tendon_wrap_sphere.xml
new file mode 100644
index 00000000..2ddba3bb
--- /dev/null
+++ b/test/engine/testdata/core_smooth/tendon_wrap_sphere.xml
@@ -0,0 +1,56 @@
+<mujoco>
+  <default>
+    <site size=".015" rgba="1 0 0 1"/>
+  </default>
+
+  <worldbody>
+    <light pos="0 0 3"/>
+    <geom type="plane" size="2 2 .1"/>
+
+    <site name="0a" pos="0 0 1"/>
+    <geom name="0g" size=".1" pos="0 0 0.5"/>
+    <body pos="0 0 .1">
+      <freejoint/>
+      <geom size=".05"/>
+      <site name="0b" pos="0 0 .05"/>
+    </body>
+
+    <site name="1a" pos=".4 0 1"/>
+    <geom name="1g" size=".1" pos=".4 0 0.5"/>
+    <site name="1s" pos=".52 0 .5"/>
+    <body pos=".4 0 .1">
+      <freejoint/>
+      <geom size=".05"/>
+      <site name="1b" pos="0 0 .05"/>
+    </body>
+
+    <site name="2a" pos="-.4 0 1"/>
+    <geom name="2g" size=".1" pos="-.4 0 0.5"/>
+    <site name="2s" pos="-.49 0 .5"/>
+    <body pos="-.4 0 .1">
+      <freejoint/>
+      <geom size=".05"/>
+      <site name="2b" pos="0 0 .05"/>
+    </body>
+  </worldbody>
+
+  <tendon>
+    <spatial range="0 0.8">
+      <site site="0a"/>
+      <geom geom="0g"/>
+      <site site="0b"/>
+    </spatial>
+
+    <spatial range="0 0.8">
+      <site site="1a"/>
+      <geom geom="1g" sidesite="1s"/>
+      <site site="1b"/>
+    </spatial>
+
+    <spatial range="0 0.8">
+      <site site="2a"/>
+      <geom geom="2g" sidesite="2s"/>
+      <site site="2b"/>
+    </spatial>
+  </tendon>
+</mujoco>