- Added passive forces plugins
- Added new `cable` composite type: * The `initial` parameter specifies the joint at the starting boundary: `free`, `ball`, or `none`. * The boundary bodies are exposed with the names:`B_left` and `B_right`. * The vertex initial positions can be specified directly in the XML with the parameter `vertex`. * The orientation of the body frame **is** the orientation of the material frame of the curve. - Added new `cable` passive force plugin: * Twist and bending stiffness can be set separately with the parameters `twist` and `bend`. * The stress-free configuration can be set to be the initial one or flat with the flag `flat`. * New cable example showing the formation of plectoneme. * New coil example. * New belt example showing interaction between twist and anisotropy. * Added test using cantilever exact solution. PiperOrigin-RevId: 480033694 Change-Id: I491271bce8fccb185961477e903e5a72d172c8a3
This commit is contained in:
Alessio Quaglino
committed by
Copybara-Service
Copybara-Service
parent
794ef0b771
commit
e250ff0d5a
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# Copyright 2022 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# https://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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mujoco_test(cable_test)
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target_link_libraries(cable_test fixture gmock cable)
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// Copyright 2022 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// Tests for plugin-related functionalities.
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#include <array>
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#include <cstdint>
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#include <cstring>
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#include <sstream>
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#include <vector>
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <mujoco/mujoco.h>
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#include "test/fixture.h"
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namespace mujoco {
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namespace {
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using PluginTest = MujocoTest;
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// -------------------------------- cable -----------------------------------
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TEST_F(PluginTest, CantileverIntoCircle) {
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static constexpr char cantilever_xml[] = R"(
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<mujoco>
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<option gravity="0 0 0"/>
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<extension>
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<required plugin="mujoco.elasticity.cable"/>
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</extension>
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<worldbody>
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<geom type="plane" size="0 0 1" quat="1 0 0 0"/>
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<site name="reference" pos="0 0 0"/>
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<composite type="cable" curve="s" count="41 1 1" size="1" offset="0 0 1" initial="none">
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<plugin plugin="mujoco.elasticity.cable">
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<config key="twist" value="1e6"/>
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<config key="bend" value="1e9"/>
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</plugin>
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<joint kind="main" damping="2"/>
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<geom type="capsule" size=".005" density="1"/>
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</composite>
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</worldbody>
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<contact>
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<exclude body1="B_first" body2="B_last"/>
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</contact>
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<sensor>
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<framepos objtype="site" objname="S_last"/>
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</sensor>
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<actuator>
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<motor site="S_last" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="0 4"/>
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</actuator>
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</mujoco>
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)";
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char error[1024] = {0};
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mjModel* m = LoadModelFromString(cantilever_xml, error, sizeof(error));
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ASSERT_THAT(m, testing::NotNull()) << error;
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mjData* d = mj_makeData(m);
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// see Oliver Weeger, Sai-Kit Yeung, Martin L. Dunn, "Isogeometric collocation methods for Cosserat rods and rod
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// structures", section 7.1 (DOI: j.cma.2016.05.009), the torque for achieving an angle phi is phi * E * Iy.
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mjtNum Iy = mjPI * pow(0.005, 4) / 4;
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mjtNum torque = 2 * mjPI * 1e9 * Iy;
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for (int i=0; i < 1300; i++) {
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if (i < 300) {
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d->ctrl[0] += torque / 300;
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}
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mj_step(m, d);
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}
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EXPECT_NEAR(d->sensordata[0], 0, std::numeric_limits<float>::epsilon());
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EXPECT_NEAR(d->sensordata[1], 0, std::numeric_limits<float>::epsilon());
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EXPECT_NEAR(d->sensordata[2], 1, std::numeric_limits<float>::epsilon());
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mj_deleteData(d);
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mj_deleteModel(m);
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}
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TEST_F(PluginTest, InvalidTxtAttribute) {
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static constexpr char cantilever_xml[] = R"(
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<mujoco>
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<extension>
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<required plugin="mujoco.elasticity.cable">
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<instance name="invalid">
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<config key="twist" value="one"/>
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<config key="bend" value="1"/>
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</instance>
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</required>
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</extension>
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<worldbody>
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<geom type="plane" size="0 0 1" quat="1 0 0 0"/>
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</worldbody>
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</mujoco>
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)";
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char error[1024] = {0};
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mjModel* m = LoadModelFromString(cantilever_xml, error, sizeof(error));
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ASSERT_THAT(m, testing::IsNull());
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}
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TEST_F(PluginTest, InvalidMixedAttribute) {
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static constexpr char cantilever_xml[] = R"(
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<mujoco>
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<extension>
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<required plugin="mujoco.elasticity.cable">
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<instance name="invalid">
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<config key="twist" value="1"/>
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<config key="bend" value="1 is not a number"/>
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</instance>
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</required>
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</extension>
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<worldbody>
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<geom type="plane" size="0 0 1" quat="1 0 0 0"/>
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</worldbody>
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</mujoco>
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)";
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char error[1024] = {0};
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mjModel* m = LoadModelFromString(cantilever_xml, error, sizeof(error));
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ASSERT_THAT(m, testing::IsNull());
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}
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TEST_F(PluginTest, ValidAttributes) {
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static constexpr char cantilever_xml[] = R"(
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<mujoco>
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<extension>
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<required plugin="mujoco.elasticity.cable">
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<instance name="invalid">
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<config key="twist" value="0.0"/>
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<config key="bend" value=" 0 "/>
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</instance>
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</required>
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</extension>
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<worldbody>
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<geom type="plane" size="0 0 1" quat="1 0 0 0"/>
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</worldbody>
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</mujoco>
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)";
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char error[1024] = {0};
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mjModel* m = LoadModelFromString(cantilever_xml, error, sizeof(error));
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ASSERT_THAT(m, testing::NotNull()) << error;
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mj_deleteModel(m);
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}
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} // namespace
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} // namespace mujoco
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