BEGIN_PUBLIC

Replaced "shark" test models with lighter models to speed up tests.
END_PUBLIC.

- procedurally generated light cube
- replaced shark GMSH with cube for all tests with extension GMSH
- Reduced size of shark model used for tests with extension Ftetwild

PiperOrigin-RevId: 631776421
Change-Id: I66f6b4058b86338a10d06c39bc93bef1c6fbdab6

test/user/testdata/cube_22_ascii_vol_gmshApp.msh

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test/user/testdata/cube_22_ascii_vol_gmshApp.xml

@@ -18,7 +18,8 @@
   <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="shark" type="gmsh" dim="3" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 0.3" mass="10" scale="1 1 1" file="shark_22_binary_gmshApp.msh">
+    <flexcomp name="cube" type="gmsh" dim="3" 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>

test/user/testdata/cube_22_binary_vol_gmshApp.xml

@@ -18,7 +18,8 @@
   <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="shark" type="gmsh" dim="3" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 0.3" mass="10" scale="1 1 1" file="shark_22_ascii_gmshApp.msh">
+    <flexcomp name="shark" type="gmsh" dim="3" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 0.3"
+              mass="10" scale="1 1 1" file="cube_22_binary_vol_gmshApp.msh">
       <edge equality="true"/>
     </flexcomp>
   </worldbody>

test/user/testdata/cube_41_ascii_vol_gmshApp.msh

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test/user/testdata/cube_41_ascii_vol_gmshApp.xml

@@ -18,7 +18,8 @@
   <worldbody>
     <geom name="floor" size="20 20 .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="shark" type="gmsh" dim="3" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4" mass="10" scale="1 1 1" file="shark_41_ascii_gmshApp.msh">
+    <flexcomp name="shark" type="gmsh" dim="3" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4"
+              mass="10" scale="1 1 1" file="cube_41_ascii_vol_gmshApp.msh">
       <edge equality="true"/>
     </flexcomp>
   </worldbody>

test/user/testdata/cube_41_binary_vol_gmshApp.xml

@@ -18,7 +18,8 @@
   <worldbody>
     <geom name="floor" size="20 20 .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="shark" type="gmsh" dim="3" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4" mass="10" scale="1 1 1" file="shark_41_binary_gmshApp.msh">
+    <flexcomp name="shark" type="gmsh" dim="3" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4"
+              mass="10" scale="1 1 1" file="cube_41_binary_vol_gmshApp.msh">
       <edge equality="true"/>
     </flexcomp>
   </worldbody>

test/user/testdata/malformed_cube_22_ascii_missing_element.msh

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test/user/testdata/malformed_cube_22_ascii_missing_element.xml

@@ -18,7 +18,8 @@
   <worldbody>
     <geom name="floor" size="20 20 .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="shark" type="gmsh" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4" mass="10" scale="1 1 1" file="shark_22_ascii_missing_element.msh">
+    <flexcomp name="cube" type="gmsh" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4" mass="10"
+              scale="1 1 1" file="malformed_cube_22_ascii_missing_element.msh">
       <edge equality="true"/>
     </flexcomp>
   </worldbody>

test/user/testdata/malformed_cube_22_ascii_missing_node.msh

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+$EndElements

test/user/testdata/malformed_cube_22_ascii_missing_node.xml

@@ -19,8 +19,8 @@
   <worldbody>
     <geom name="floor" size="20 20 .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="shark binary 2.2" type="gmsh" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4"
-      mass="10" scale="1 1 1" file="shark_41_ascii_missing_element.msh">
+    <flexcomp name="cube" type="gmsh" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4" mass="10"
+              scale="1 1 1" file="malformed_cube_22_ascii_missing_node.msh">
       <edge equality="true" />
     </flexcomp>
   </worldbody>

test/user/testdata/malformed_cube_22_ascii_missing_num_elements.msh

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+$EndElements

test/user/testdata/malformed_cube_22_ascii_missing_num_elements.xml

@@ -0,0 +1,27 @@
+<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="20 20 .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 4" mass="10"
+              scale="1 1 1" file="malformed_cube_22_ascii_missing_num_elements.msh">
+      <edge equality="true" />
+    </flexcomp>
+  </worldbody>
+</mujoco>

test/user/testdata/malformed_cube_22_ascii_missing_num_nodes.msh

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+$EndElements

test/user/testdata/malformed_cube_22_ascii_missing_num_nodes.xml

@@ -0,0 +1,27 @@
+<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="20 20 .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" dim="3" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4" mass="10"
+              scale="1 1 1" file="malformed_cube_22_ascii_missing_num_nodes.msh">
+      <edge equality="true" />
+    </flexcomp>
+  </worldbody>
+</mujoco>

test/user/testdata/malformed_cube_41_ascii_missing_element.msh

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test/user/testdata/malformed_cube_41_ascii_missing_element.xml

@@ -19,8 +19,8 @@
   <worldbody>
     <geom name="floor" size="20 20 .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="shark" type="gmsh" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4" mass="10"
-      scale="1 1 1" file="shark_22_ascii_missing_node.msh">
+    <flexcomp name="cube" type="gmsh" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4"
+              mass="10" scale="1 1 1" file="malformed_cube_41_ascii_missing_element.msh">
       <edge equality="true" />
     </flexcomp>
   </worldbody>

test/user/testdata/malformed_cube_41_ascii_missing_element_header.msh

@@ -0,0 +1,65 @@
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+$EndElements

test/user/testdata/malformed_cube_41_ascii_missing_element_header.xml

@@ -0,0 +1,27 @@
+<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="20 20 .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 4"
+              mass="10" scale="1 1 1" file="malformed_cube_41_ascii_missing_element_header.msh">
+      <edge equality="true" />
+    </flexcomp>
+  </worldbody>
+</mujoco>

test/user/testdata/malformed_cube_41_ascii_missing_node.msh

@@ -0,0 +1,66 @@
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+4 10 12 14 11
+5 9 10 1 2
+6 7 11 12 3
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+11 12 8 14 7
+12 14 5 10 6
+13 14 6 11 7
+14 9 4 12 3
+15 3 11 9 2
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+20 5 10 13 14
+21 8 13 12 14
+22 12 14 11 7
+23 9 12 11 3
+24 10 9 11 2
+$EndElements

test/user/testdata/malformed_cube_41_ascii_missing_node_header.msh

@@ -0,0 +1,65 @@
+$MeshFormat
+4.1 0 8
+$EndMeshFormat
+$Entities
+0 0 0 1
+1 -0.5 -0.5 0 0.5 0.5 1 0 0
+$EndEntities
+$Nodes
+1
+2
+3
+4
+5
+6
+7
+8
+9
+10
+11
+12
+13
+14
+-0.5 -0.5 0
+0.5 -0.5 0
+0.5 0.5 0
+-0.5 0.5 0
+-0.5 -0.5 1
+0.5 -0.5 1
+0.5 0.5 1
+-0.5 0.5 1
+0 0 0
+0 -0.5 0.5
+0.5 0 0.5
+0 0.5 0.5
+-0.5 0 0.5
+0 0 1
+$EndNodes
+$Elements
+1 24 1 24
+3 1 4 24
+1 10 9 12 11
+2 10 12 13 14
+3 9 10 12 13
+4 10 12 14 11
+5 9 10 1 2
+6 7 11 12 3
+7 4 1 9 13
+8 13 12 4 8
+9 1 10 13 5
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+11 12 8 14 7
+12 14 5 10 6
+13 14 6 11 7
+14 9 4 12 3
+15 3 11 9 2
+16 11 6 10 2
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+18 1 10 9 13
+19 12 4 9 13
+20 5 10 13 14
+21 8 13 12 14
+22 12 14 11 7
+23 9 12 11 3
+24 10 9 11 2
+$EndElements

test/user/testdata/malformed_cube_41_ascii_missing_node_header.xml

@@ -19,8 +19,8 @@
   <worldbody>
     <geom name="floor" size="20 20 .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="shark" type="gmsh" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4" mass="10"
-      scale="1 1 1" file="shark_22_ascii_missing_num_nodes.msh">
+    <flexcomp name="cube" type="gmsh" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4"
+              mass="10" scale="1 1 1" file="malformed_cube_41_ascii_missing_node_header.msh">
       <edge equality="true" />
     </flexcomp>
   </worldbody>

test/user/testdata/malformed_cube_41_ascii_missing_node_index.msh

@@ -0,0 +1,66 @@
+$MeshFormat
+4.1 0 8
+$EndMeshFormat
+$Entities
+0 0 0 1
+1 -0.5 -0.5 0 0.5 0.5 1 0 0
+$EndEntities
+$Nodes
+1 14 1 14
+3 1 0 14
+2
+3
+4
+5
+6
+7
+8
+9
+10
+11
+12
+13
+14
+-0.5 -0.5 0
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+0.5 0.5 1
+-0.5 0.5 1
+0 0 0
+0 -0.5 0.5
+0.5 0 0.5
+0 0.5 0.5
+-0.5 0 0.5
+0 0 1
+$EndNodes
+$Elements
+1 24 1 24
+3 1 4 24
+1 10 9 12 11
+2 10 12 13 14
+3 9 10 12 13
+4 10 12 14 11
+5 9 10 1 2
+6 7 11 12 3
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+14 9 4 12 3
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+18 1 10 9 13
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+20 5 10 13 14
+21 8 13 12 14
+22 12 14 11 7
+23 9 12 11 3
+24 10 9 11 2
+$EndElements

test/user/testdata/malformed_cube_41_ascii_missing_node_index.xml

@@ -19,8 +19,8 @@
   <worldbody>
     <geom name="floor" size="20 20 .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="shark" type="gmsh" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4" mass="10"
-      scale="1 1 1" file="shark_22_ascii_missing_num_elements.msh">
+    <flexcomp name="cube" type="gmsh" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4"
+              mass="10" scale="1 1 1" file="malformed_cube_41_ascii_missing_node_index.msh">
       <edge equality="true" />
     </flexcomp>
   </worldbody>

test/user/testdata/malformed_shark_41_ascii_missing_element_header.xml

@@ -1,27 +0,0 @@
-<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="20 20 .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="shark binary 2.2" type="gmsh" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4"
-      mass="10" scale="1 1 1" file="shark_41_ascii_missing_element_header.msh">
-      <edge equality="true" />
-    </flexcomp>
-  </worldbody>
-</mujoco>

test/user/testdata/malformed_shark_41_ascii_missing_node_header.xml

@@ -1,27 +0,0 @@
-<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="20 20 .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="shark binary 2.2" type="gmsh" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4"
-      mass="10" scale="1 1 1" file="shark_41_ascii_missing_node_header.msh">
-      <edge equality="true" />
-    </flexcomp>
-  </worldbody>
-</mujoco>

test/user/testdata/malformed_shark_41_ascii_missing_node_index.xml

@@ -1,27 +0,0 @@
-<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="20 20 .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="shark binary 2.2" type="gmsh" dim="3" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4"
-      mass="10" scale="1 1 1" file="shark_41_ascii_missing_node_index.msh">
-      <edge equality="true" />
-    </flexcomp>
-  </worldbody>
-</mujoco>