Yuval Tassa
4787c8094c
https://www.youtube.com/watch?v=PdSdrqhSiZA The new geom attribute surfacevel (6 numbers: linear and angular velocity in the geom's local frame, angular about the geom frame origin) specifies the velocity of the geom's surface material relative to the geom frame. The relative surface velocity of the two geoms is added to the tangential contact rows of efc_vel in mj_referenceConstraint, so friction drives touching bodies toward the motion of the surface: objects on a conveyor are transported at belt speed, turntables impart omega x r with torsional spin-up for condim >= 4, and surface velocities compose with each other and with body motion. The component along the contact normal is projected out: probe experiments showed that velocity-space emission chatters mass-independently and ingestion merely deepens penetration; normal-direction effects belong to force-space features. surfacevel is interpreted in the geom frame as authored: for mesh geoms, whose compiled frame absorbs the mesh centering and principal-axes transform, the compiler re-expresses the authored value in the compiled frame. No special interaction with sleeping: objects being transported do not fall asleep because they are moving; objects at rest on an active surface may sleep like any other resting object. Includes showcase models (model/surfacevel/): a luggage carousel whose ring is a spinning square-profile supertorus fed by a cascade of belts with matched spinning end rollers, bags dropping in and circulating indefinitely; and a treadmill with a passive humanoid. PiperOrigin-RevId: 948647785 Change-Id: I0c6559a91cc7ece1237eb8ac2e51986e7342d962
94 lines
2.6 KiB
C++
94 lines
2.6 KiB
C++
// Copyright 2021 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 user/user_model.cc.
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#include <array>
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#include <cstddef>
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#include <string>
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <absl/strings/str_format.h>
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#include "src/cc/array_safety.h"
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#include <mujoco/mjdata.h>
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#include <mujoco/mjmodel.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 ::testing::IsNull;
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using ::testing::NotNull;
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using ::testing::HasSubstr;
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using UserCompositeTest = MujocoTest;
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// ------------------------ cable tests ---------------------------------------
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TEST_F(UserCompositeTest, ShapeCanBeOmitted) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<composite type="cable" count="100 1 1" curve="s">
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<geom type="box" size="1 1 1"/>
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</composite>
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</worldbody>
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</mujoco>
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)";
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std::array<char, 1024> error;
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MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
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EXPECT_THAT(m.get(), NotNull()) << error.data();
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}
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TEST_F(UserCompositeTest, GeomSurfacevel) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<composite type="cable" count="5 1 1" curve="s">
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<geom type="capsule" size=".02" surfacevel="0 0 0 0 0 3"/>
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</composite>
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</worldbody>
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</mujoco>
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)";
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std::array<char, 1024> error;
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MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
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ASSERT_THAT(m.get(), NotNull()) << error.data();
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for (int g = 0; g < m->ngeom; g++) {
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if (m->geom_type[g] == mjGEOM_CAPSULE) {
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EXPECT_EQ(m->geom_surfacevel[6*g + 5], 3);
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}
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}
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}
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TEST_F(UserCompositeTest, InvalidShape) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<composite type="cable" count="100 1 1" curve="s s exp">
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<geom type="box" size="1 1 1"/>
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</composite>
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</worldbody>
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</mujoco>
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)";
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std::array<char, 1024> error;
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MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
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EXPECT_THAT(m.get(), IsNull()) << error.data();
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EXPECT_THAT(error.data(),
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HasSubstr("The curve array contains an invalid shape"));
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}
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} // namespace
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} // namespace mujoco
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