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Allow to fusestatic a body if it doesn't generate a referencing error.

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PiperOrigin-RevId: 769189929
Change-Id: I62f512813ea330da088b28d39373df39be10a602
This commit is contained in:
Alessio Quaglino
2025-06-09 10:04:47 -07:00
committed by Copybara-Service
parent f75772587a
commit b8768aa1cd
7 changed files with 242 additions and 73 deletions
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test/user/user_model_test.cc
+94
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@@ -440,6 +440,100 @@ TEST_F(FuseStaticTest, FuseStaticEquivalent) {
mj_deleteModel(m_no_fuse);
}
TEST_F(FuseStaticTest, FuseStaticActuatorReferencedBody) {
static constexpr char xml_template[] = R"(
<mujoco>
<compiler fusestatic="true"/>
<worldbody>
<body>
<joint axis="1 0 0"/>
<geom size="0.5" pos="1 0 0" contype="0" conaffinity="0"/>
<body name="not_referenced">
<geom size="0.5" pos="0 1 0" contype="1" conaffinity="1"/>
<geom size="0.5" pos="0 -2 0" contype="1" conaffinity="1"/>
</body>
<body name="referenced">
<geom size="0.5" pos="0 1 0" contype="1" conaffinity="1"/>
<geom size="0.5" pos="0 -2 0" contype="1" conaffinity="1"/>
</body>
</body>
</worldbody>
<actuator>
<adhesion body="referenced" ctrlrange="0 1"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml_template, error.data(), error.size());
ASSERT_THAT(m, NotNull()) << error.data();
EXPECT_EQ(m->nbody, 3) << "Expecting a world body and two others";
mj_deleteModel(m);
}
TEST_F(FuseStaticTest, FuseStaticLightReferencedBody) {
static constexpr char xml_template[] = R"(
<mujoco>
<compiler fusestatic="true"/>
<worldbody>
<light mode="targetbody" target="referenced"/>
<body>
<joint axis="1 0 0"/>
<geom size="0.5" pos="1 0 0" contype="0" conaffinity="0"/>
<body name="not_referenced">
<geom size="0.5" pos="0 1 0" contype="1" conaffinity="1"/>
<geom size="0.5" pos="0 -2 0" contype="1" conaffinity="1"/>
</body>
<body name="referenced">
<geom size="0.5" pos="0 1 0" contype="1" conaffinity="1"/>
<geom size="0.5" pos="0 -2 0" contype="1" conaffinity="1"/>
</body>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml_template, error.data(), error.size());
ASSERT_THAT(m, NotNull()) << error.data();
EXPECT_EQ(m->nbody, 3) << "Expecting a world body and two others";
mj_deleteModel(m);
}
TEST_F(FuseStaticTest, FuseStaticForceSensorReferencedBody) {
static constexpr char xml_template[] = R"(
<mujoco>
<compiler fusestatic="true"/>
<worldbody>
<body>
<joint axis="1 0 0"/>
<geom size="0.5" pos="1 0 0" contype="0" conaffinity="0"/>
<body name="not_referenced">
<geom size="0.5" pos="0 1 0" contype="1" conaffinity="1"/>
<geom size="0.5" pos="0 -2 0" contype="1" conaffinity="1"/>
</body>
<body name="referenced">
<site name="force"/>
<geom size="0.5" pos="0 1 0" contype="1" conaffinity="1"/>
<geom size="0.5" pos="0 -2 0" contype="1" conaffinity="1"/>
</body>
</body>
</worldbody>
<sensor>
<force site="force"/>
</sensor>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml_template, error.data(), error.size());
ASSERT_THAT(m, NotNull()) << error.data();
EXPECT_EQ(m->nbody, 3) << "Expecting a world body and two others";
mj_deleteModel(m);
}
// ------------- test discardvisual --------------------------------------------
using DiscardVisualTest = MujocoTest;