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Replaced "shark" test models with lighter models to speed up tests.
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- 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
This commit is contained in:
Mohammad Hamid
2024-05-08 06:14:13 -07:00
committed by Copybara-Service
parent 13bf9ae6bd
commit d6bc8c7781
44 changed files with 3318 additions and 37174 deletions
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test/user/user_flex_test.cc
+23 -23
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@@ -245,13 +245,13 @@ TEST_F(UserFlexTest, RigidFlex) {
TEST_F(UserFlexTest, LoadMSHBinaryGMSH_41_Success) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/shark_41_binary_gmshApp.xml");
GetTestDataFilePath("user/testdata/cube_41_binary_vol_gmshApp.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, 652);
EXPECT_EQ(m->nflexelem, 1654);
EXPECT_EQ(m->nflexvert, 14);
EXPECT_EQ(m->nflexelem, 24);
mj_step(m, d);
mj_deleteModel(m);
mj_deleteData(d);
@@ -259,13 +259,13 @@ TEST_F(UserFlexTest, LoadMSHBinaryGMSH_41_Success) {
TEST_F(UserFlexTest, LoadMSHBinaryGMSH_22_Success) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/shark_22_binary_gmshApp.xml");
GetTestDataFilePath("user/testdata/cube_22_binary_vol_gmshApp.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, 644);
EXPECT_EQ(m->nflexelem, 1635);
EXPECT_EQ(m->nflexvert, 14);
EXPECT_EQ(m->nflexelem, 24);
mj_step(m, d);
mj_deleteModel(m);
mj_deleteData(d);
@@ -328,8 +328,8 @@ TEST_F(UserFlexTest, LoadMSHBinaryFTETWILD_22_Success) {
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, 644);
EXPECT_EQ(m->nflexelem, 1635);
EXPECT_EQ(m->nflexvert, 429);
EXPECT_EQ(m->nflexelem, 1073);
mj_step(m, d);
mj_deleteModel(m);
mj_deleteData(d);
@@ -337,13 +337,13 @@ TEST_F(UserFlexTest, LoadMSHBinaryFTETWILD_22_Success) {
TEST_F(UserFlexTest, LoadMSHASCIIGMSH_41_Success) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/shark_41_ascii_gmshApp.xml");
GetTestDataFilePath("user/testdata/cube_41_ascii_vol_gmshApp.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, 652);
EXPECT_EQ(m->nflexelem, 1654);
EXPECT_EQ(m->nflexvert, 14);
EXPECT_EQ(m->nflexelem, 24);
mj_step(m, d);
mj_deleteModel(m);
mj_deleteData(d);
@@ -351,13 +351,13 @@ TEST_F(UserFlexTest, LoadMSHASCIIGMSH_41_Success) {
TEST_F(UserFlexTest, LoadMSHASCIIGMSH_22_Success) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/shark_22_ascii_gmshApp.xml");
GetTestDataFilePath("user/testdata/cube_22_ascii_vol_gmshApp.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, 652);
EXPECT_EQ(m->nflexelem, 1654);
EXPECT_EQ(m->nflexvert, 14);
EXPECT_EQ(m->nflexelem, 24);
mj_step(m, d);
mj_deleteModel(m);
mj_deleteData(d);
@@ -420,8 +420,8 @@ TEST_F(UserFlexTest, LoadMSHASCIIFTETWILD_22_Success) {
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, 652);
EXPECT_EQ(m->nflexelem, 1654);
EXPECT_EQ(m->nflexvert, 425);
EXPECT_EQ(m->nflexelem, 1070);
mj_step(m, d);
mj_deleteModel(m);
mj_deleteData(d);
@@ -430,7 +430,7 @@ TEST_F(UserFlexTest, LoadMSHASCIIFTETWILD_22_Success) {
TEST_F(UserFlexTest, LoadMSHASCII_41_MissingNodeHeader_Fail) {
const std::string xml_path =
GetTestDataFilePath(
"user/testdata/malformed_shark_41_ascii_missing_node_header.xml");
"user/testdata/malformed_cube_41_ascii_missing_node_header.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
EXPECT_THAT(error.data(), HasSubstr(
@@ -441,7 +441,7 @@ TEST_F(UserFlexTest, LoadMSHASCII_41_MissingNodeHeader_Fail) {
TEST_F(UserFlexTest, LoadMSHASCII_41_MissingNodeIndex_Fail) {
const std::string xml_path =
GetTestDataFilePath(
"user/testdata/malformed_shark_41_ascii_missing_node_index.xml");
"user/testdata/malformed_cube_41_ascii_missing_node_index.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
EXPECT_THAT(error.data(), HasSubstr(
@@ -452,7 +452,7 @@ TEST_F(UserFlexTest, LoadMSHASCII_41_MissingNodeIndex_Fail) {
TEST_F(UserFlexTest, LoadMSHASCII_41_MissingElementHeader_Fail) {
const std::string xml_path =
GetTestDataFilePath(
"user/testdata/malformed_shark_41_ascii_missing_element_header.xml");
"user/testdata/malformed_cube_41_ascii_missing_element_header.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
EXPECT_THAT(error.data(), HasSubstr(
@@ -463,7 +463,7 @@ TEST_F(UserFlexTest, LoadMSHASCII_41_MissingElementHeader_Fail) {
TEST_F(UserFlexTest, LoadMSHASCII_41_MissingElement_Fail) {
const std::string xml_path =
GetTestDataFilePath(
"user/testdata/malformed_shark_41_ascii_missing_element.xml");
"user/testdata/malformed_cube_41_ascii_missing_element.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
EXPECT_THAT(error.data(), HasSubstr(
@@ -474,7 +474,7 @@ TEST_F(UserFlexTest, LoadMSHASCII_41_MissingElement_Fail) {
TEST_F(UserFlexTest, LoadMSHASCII_22_MissingNumNodes_Fail) {
const std::string xml_path =
GetTestDataFilePath(
"user/testdata/malformed_shark_22_ascii_missing_num_nodes.xml");
"user/testdata/malformed_cube_22_ascii_missing_num_nodes.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
// TODO(mohammadhamid): Replace with an assertion about the error message. For
@@ -486,7 +486,7 @@ TEST_F(UserFlexTest, LoadMSHASCII_22_MissingNumNodes_Fail) {
TEST_F(UserFlexTest, LoadMSHASCII_22_MissingNode_Fail) {
const std::string xml_path =
GetTestDataFilePath(
"user/testdata/malformed_shark_22_ascii_missing_node.xml");
"user/testdata/malformed_cube_22_ascii_missing_node.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
EXPECT_THAT(error.data(), HasSubstr(
@@ -509,7 +509,7 @@ TEST_F(UserFlexTest, LoadMSHASCII_22_MissingNumElements_Fail) {
TEST_F(UserFlexTest, LoadMSHASCII_22_MissingElement_Fail) {
const std::string xml_path =
GetTestDataFilePath(
"user/testdata/malformed_shark_22_ascii_missing_element.xml");
"user/testdata/malformed_cube_22_ascii_missing_element.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
EXPECT_THAT(error.data(), HasSubstr(