Kyle Bayes
1490336955
PiperOrigin-RevId: 935980153 Change-Id: I41d25bfab4935494dc984168820cb7cad123cadf
441 lines
14 KiB
C++
441 lines
14 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 engine/engine_collision_driver.c.
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#include "src/engine/engine_collision_driver.h"
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#include <algorithm>
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#include <cmath>
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#include <cstddef>
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#include <string>
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#include <utility>
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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/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 MjCollisionTest = MujocoTest;
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using GeomPair = std::pair<std::string, std::string>;
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using ::testing::ElementsAre;
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using ::testing::IsEmpty;
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using ::testing::NotNull;
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// Returns a sorted list of pairs of colliding geom names, where each pair of
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// geom names is sorted.
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static std::vector<GeomPair> colliding_pairs(const mjModel* model,
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const mjData* data) {
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std::vector<GeomPair> result;
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for (int i = 0; i < data->ncon; i++) {
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std::string geom1 = mj_id2name(model, mjOBJ_GEOM, data->contact[i].geom[0]);
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std::string geom2 = mj_id2name(model, mjOBJ_GEOM, data->contact[i].geom[1]);
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result.push_back(GeomPair(std::min(geom1, geom2), std::max(geom1, geom2)));
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}
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std::sort(result.begin(), result.end());
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return result;
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}
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TEST_F(MjCollisionTest, AllCollisions) {
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static const char* const kModelFilePath = "engine/testdata/collisions.xml";
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const std::string xml_path = GetTestDataFilePath(kModelFilePath);
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mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
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mjData* data = mj_makeData(model);
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// mjCOL_ALL is the default
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mj_fwdPosition(model, data);
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EXPECT_THAT(colliding_pairs(model, data),
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ElementsAre(GeomPair("box", "sphere_collides"),
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GeomPair("box", "sphere_predefined")));
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mj_deleteData(data);
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mj_deleteModel(model);
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}
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TEST_F(MjCollisionTest, EmptyModel) {
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char error[1024];
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MjModelPtr model = LoadModelFromString("<mujoco/>", error, sizeof(error));
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ASSERT_THAT(model.get(), NotNull()) << error;
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MjDataPtr data = MakeData(model);
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mj_fwdPosition(model.get(), data.get());
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EXPECT_THAT(colliding_pairs(model.get(), data.get()), IsEmpty());
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}
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TEST_F(MjCollisionTest, ZeroedHessian) {
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static const char* const kModelFilePath = "engine/testdata/collisions.xml";
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const std::string xml_path = GetTestDataFilePath(kModelFilePath);
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mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
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mjData* data = mj_makeData(model);
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mj_fwdPosition(model, data);
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for (int i = 0; i < data->ncon; i++) {
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for (int j = 0; j < 36; j++) {
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EXPECT_FALSE(isnan(data->contact[i].H[j]))
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<< "NaN in contact[" << i << "].H[" << j << "]";
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}
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}
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mj_deleteData(data);
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mj_deleteModel(model);
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}
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TEST_F(MjCollisionTest, ContactCount) {
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constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body>
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<geom type="plane" size="5 5 .01"/>
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</body>
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<body pos="0 0 0.9">
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<freejoint/>
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<geom type="sphere" size="1" pos="-1 -1 0"/>
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<geom type="sphere" size="1" pos="-1 1 0"/>
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<geom type="sphere" size="1" pos=" 1 -1 0"/>
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<geom type="sphere" size="1" pos=" 1 1 0"/>
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<geom type="sphere" size="1" pos="-2 -2 0"/>
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<geom type="sphere" size="1" pos="-2 2 0"/>
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<geom type="sphere" size="1" pos=" 2 -2 0"/>
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<geom type="sphere" size="1" pos=" 2 2 0"/>
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</body>
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</worldbody>
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</mujoco>
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)";
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char error[1024];
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MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
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ASSERT_THAT(m.get(), NotNull()) << error;
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MjDataPtr d = MakeData(m);
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ASSERT_THAT(d, NotNull());
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mj_forward(m.get(), d.get());
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// there are 8 spheres, all touching the floor
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EXPECT_EQ(d->ncon, 8);
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}
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TEST_F(MjCollisionTest, FilterParent) {
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constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body pos="0 0 0">
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<freejoint/>
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<geom name="colliding1" size="1" pos="0 0 100"/>
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<body>
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<geom size="1"/>
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<body>
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<joint axis="1 0 0"/>
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<geom size="1" pos="0 0 50"/>
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<body>
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<geom name="colliding2" size="1" pos="0 0 99.5"/>
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</body>
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</body>
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</body>
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</body>
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</worldbody>
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</mujoco>
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)";
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char error[1024];
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MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
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ASSERT_THAT(m.get(), NotNull()) << error;
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MjDataPtr d = MakeData(m);
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ASSERT_THAT(d, NotNull());
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mj_fwdPosition(m.get(), d.get());
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// there should be zero contacts, because colliding1 and colliding2 are in
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// bodies that have a parent-child relationship, through welds
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EXPECT_EQ(d->ncon, 0);
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// when this filtering is disabled, the geoms should collide
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m->opt.disableflags |= mjDSBL_FILTERPARENT;
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mj_fwdPosition(m.get(), d.get());
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EXPECT_THAT(colliding_pairs(m.get(), d.get()),
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ElementsAre(GeomPair("colliding1", "colliding2")));
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}
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TEST_F(MjCollisionTest, FilterParentDoesntAffectWorldBody) {
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constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<geom name="colliding1" size="1" pos="0 0 100"/>
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<body pos="0 0 0">
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<joint axis="1 0 0"/>
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<geom name="colliding2" size="1" pos="0 0 99.5"/>
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</body>
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</worldbody>
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</mujoco>
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)";
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char error[1024];
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MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
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ASSERT_THAT(m.get(), NotNull()) << error;
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MjDataPtr d = MakeData(m);
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ASSERT_THAT(d, NotNull());
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mj_fwdPosition(m.get(), d.get());
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// even though colliding1 and colliding2 are have a parent-child relationship,
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// they collide because colliding1 is in <worldbody>
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EXPECT_THAT(colliding_pairs(m.get(), d.get()),
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ElementsAre(GeomPair("colliding1", "colliding2")));
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}
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TEST_F(MjCollisionTest, TestOBB) {
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mjtNum bvh1[6] = {-1, -1, -1, 1, 1, 1};
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mjtNum bvh2[6] = {-1, -1, -1, 1, 1, 1};
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mjtNum pos1[3] = {0, 0, 0};
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mjtNum mat1[9] = {1, 0, 0, 0, 1, 0, 0, 0, 1};
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mjtNum pos2[3] = {1.71, 1.71, 0}; // just a little more than 1+sqrt(2)/2
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mjtNum mat2[9] = {1, 0, 0, 0, 1, 0, 0, 0, 1};
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EXPECT_THAT(
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mj_collideOBB(bvh1, bvh2, pos1, mat1, pos2, mat2, 0, NULL, NULL, 0),
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true);
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// rotate by 45 degrees
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mat2[0] = 1. / mju_sqrt(2.);
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mat2[1] = -1. / mju_sqrt(2.);
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mat2[3] = 1. / mju_sqrt(2.);
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mat2[4] = 1. / mju_sqrt(2.);
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EXPECT_THAT(
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mj_collideOBB(bvh1, bvh2, pos1, mat1, pos2, mat2, 0, NULL, NULL, 0),
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false);
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}
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TEST_F(MjCollisionTest, PlaneInBody) {
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constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body>
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<geom pos="0 0 0" type="plane" size="1 1 .01"/>
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</body>
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<body pos="0 0 .0499">
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<joint type="slide" axis="0 0 1"/>
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<geom size=".05"/>
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</body>
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</worldbody>
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</mujoco>
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)";
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char error[1024];
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MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
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ASSERT_THAT(m.get(), NotNull()) << error;
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MjDataPtr d = MakeData(m);
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ASSERT_THAT(d, NotNull());
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mj_step(m.get(), d.get());
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}
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TEST_F(MjCollisionTest, PinchingSucceeds) {
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constexpr char xml[] = R"(
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<mujoco>
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<option timestep="0.002" gravity="0 0 -9.81"/>
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<worldbody>
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<geom name="floor" type="plane" size="0 0 1"/>
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<body name="gripper" pos="0 0 0.5">
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<joint name="lift" type="slide" axis="0 0 1" damping="50"/>
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<geom type="box" size="0.2 0.05 0.02" rgba="0.5 0.5 0.5 1"/> <!-- base -->
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<body name="left_finger" pos="-0.1 0 -0.1">
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<joint name="left_slide" type="slide" axis="1 0 0" damping="10"/>
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<geom type="box" size="0.02 0.1 0.1" rgba="0.8 0.2 0.2 1"/>
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</body>
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<body name="right_finger" pos="0.1 0 -0.1">
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<joint name="right_slide" type="slide" axis="-1 0 0" damping="10"/>
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<geom type="box" size="0.02 0.1 0.1" rgba="0.8 0.2 0.2 1"/>
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</body>
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</body>
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<flexcomp name="cloth" type="grid" dim="2" count="9 9 1" spacing="0.05 0.05 0.05"
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pos="0 0 0.1" radius="0.01">
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<edge equality="true"/>
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</flexcomp>
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</worldbody>
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<equality>
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<joint joint1="right_slide" joint2="left_slide"/>
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</equality>
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<tendon>
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<fixed name="grasp">
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<joint joint="right_slide" coef="1"/>
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<joint joint="left_slide" coef="1"/>
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</fixed>
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</tendon>
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<actuator>
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<position name="lift" joint="lift" kp="600" dampratio="1" ctrlrange="-1 1"/>
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<position name="grasp" tendon="grasp" kp="200" dampratio="1" ctrlrange="0 1"/>
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</actuator>
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</mujoco>
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)";
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char error[1024];
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MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
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ASSERT_THAT(m.get(), NotNull()) << error;
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MjDataPtr d = MakeData(m);
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ASSERT_THAT(d, NotNull());
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int lift_id = mj_name2id(m.get(), mjOBJ_ACTUATOR, "lift");
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int grasp_id = mj_name2id(m.get(), mjOBJ_ACTUATOR, "grasp");
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// Phase 1: Lower gripper.
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// The gripper base starts at z=0.5. The finger has length 0.2 (size 0.1),
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// extending from z=0.4 to z=0.2 relative to base (center at -0.1).
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// The cloth is at z=0.1. We need to lower the gripper so the fingertips
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// reach the cloth. A lift value of -0.35 places the fingertips near z=0.05.
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for (int i = 0; i < 500; ++i) {
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d->ctrl[lift_id] = -0.35; // Lower
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d->ctrl[grasp_id] = 0; // Open
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mj_step(m.get(), d.get());
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}
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// Phase 2: Pinch
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for (int i = 0; i < 100; ++i) {
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d->ctrl[lift_id] = -0.35; // Hold height
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d->ctrl[grasp_id] = 0.8; // Close (max 1)
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mj_step(m.get(), d.get());
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}
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// Phase 3: Lift
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for (int i = 0; i < 1000; ++i) {
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d->ctrl[lift_id] = 0.5; // Lift up
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d->ctrl[grasp_id] = 0.8; // Keep closed
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mj_step(m.get(), d.get());
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}
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// Check if cloth is lifted
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// flex verts are in d->flexvert_xpos
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// original z is ~0.1 (falling to floor ~0.0)
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// gripper lifted to > 0.5 probably
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// Find average Z of cloth
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double avg_z = 0;
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int nvert = m->flex_vertnum[0];
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for (int i = 0; i < nvert; ++i) {
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avg_z += d->flexvert_xpos[3 * i + 2];
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}
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avg_z /= nvert;
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// If lifted, avg_z should be significantly > 0.1
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// If failed (slipped), avg_z should be near 0 (floor)
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// Specialized primitives (mjraw_BoxTriangle, mjraw_CapsuleTriangle) should
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// enable stable pinching, so we expect the cloth to be lifted.
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EXPECT_GT(avg_z, 0.2) << "Cloth slipped out of gripper!";
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}
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TEST_F(MjCollisionTest, MarginSumming) {
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// Two spheres with size 0.1, placed 0.21 apart (distance of 0.01).
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// With margin summing, margin1 + margin2 = 0.00999 + 0.00999 = 0.01998 > 0.01
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// so a contact should be generated.
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constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body>
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<geom name="sphere1" type="sphere" size=".1" margin="0.00999"/>
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<joint type="slide" axis="1 0 0"/>
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</body>
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<body pos=".21 0 0">
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<geom name="sphere2" type="sphere" size=".1" margin="0.00999"/>
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<joint type="slide" axis="1 0 0"/>
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</body>
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</worldbody>
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</mujoco>
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)";
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char error[1024];
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MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
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ASSERT_THAT(m.get(), NotNull()) << error;
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MjDataPtr d = MakeData(m);
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ASSERT_THAT(d, NotNull());
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mj_fwdPosition(m.get(), d.get());
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// With margin summing, we expect 1 contact
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EXPECT_EQ(d->ncon, 1);
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}
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TEST_F(MjCollisionTest, MaxContact) {
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constexpr char xml[] = R"(
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<mujoco>
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<option>
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<flag multiccd="enable"/>
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</option>
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<asset>
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<mesh name="smallbox"
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vertex="-1 -1 -1 1 -1 -1 1 1 -1
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1 1 1 1 -1 1 -1 1 -1
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-1 1 1 -1 -1 1"/>
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</asset>
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<worldbody>
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<geom name="mesh" type="mesh" mesh="smallbox"/>
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<geom name="box" type="box" size="1 1 1"/>
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<geom name="plane" type="plane" size="1 1 1"/>
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<geom name="sphere" type="sphere" size="1"/>
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<geom name="capsule" type="capsule" size="1 1"/>
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<geom name="ellipsoid" type="ellipsoid" size="1 1 1"/>
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<geom name="cylinder" type="cylinder" size="1 1"/>
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</worldbody>
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</mujoco>
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)";
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char error[1024];
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MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
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ASSERT_THAT(m.get(), NotNull()) << error;
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MjDataPtr d = MakeData(m);
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ASSERT_THAT(d, NotNull());
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int mesh = mj_name2id(m.get(), mjOBJ_GEOM, "mesh");
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int box = mj_name2id(m.get(), mjOBJ_GEOM, "box");
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int plane = mj_name2id(m.get(), mjOBJ_GEOM, "plane");
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int sphere = mj_name2id(m.get(), mjOBJ_GEOM, "sphere");
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int capsule = mj_name2id(m.get(), mjOBJ_GEOM, "capsule");
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int ellipsoid = mj_name2id(m.get(), mjOBJ_GEOM, "ellipsoid");
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int cylinder = mj_name2id(m.get(), mjOBJ_GEOM, "cylinder");
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EXPECT_EQ(mj_maxContact(m.get(), mesh, box, -1), 4);
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EXPECT_EQ(mj_maxContact(m.get(), mesh, plane, -1), 3);
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EXPECT_EQ(mj_maxContact(m.get(), box, plane, -1), 4);
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EXPECT_EQ(mj_maxContact(m.get(), mesh, mesh, -1), 4);
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EXPECT_EQ(mj_maxContact(m.get(), box, box, -1), 8);
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EXPECT_EQ(mj_maxContact(m.get(), capsule, capsule, -1), 2);
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EXPECT_EQ(mj_maxContact(m.get(), capsule, box, -1), 4);
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EXPECT_EQ(mj_maxContact(m.get(), capsule, plane, -1), 2);
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EXPECT_EQ(mj_maxContact(m.get(), cylinder, plane, -1), 4);
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EXPECT_EQ(mj_maxContact(m.get(), sphere, sphere, -1), 1);
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EXPECT_EQ(mj_maxContact(m.get(), sphere, capsule, -1), 1);
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EXPECT_EQ(mj_maxContact(m.get(), sphere, box, -1), 1);
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EXPECT_EQ(mj_maxContact(m.get(), sphere, mesh, -1), 1);
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EXPECT_EQ(mj_maxContact(m.get(), sphere, plane, -1), 1);
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EXPECT_EQ(mj_maxContact(m.get(), sphere, cylinder, -1), 1);
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EXPECT_EQ(mj_maxContact(m.get(), ellipsoid, ellipsoid, -1), 1);
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EXPECT_EQ(mj_maxContact(m.get(), ellipsoid, box, -1), 1);
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EXPECT_EQ(mj_maxContact(m.get(), ellipsoid, mesh, -1), 1);
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EXPECT_EQ(mj_maxContact(m.get(), ellipsoid, plane, -1), 1);
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EXPECT_EQ(mj_maxContact(m.get(), ellipsoid, cylinder, -1), 1);
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EXPECT_EQ(mj_maxContact(m.get(), ellipsoid, capsule, -1), 1);
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EXPECT_EQ(mj_maxContact(m.get(), capsule, cylinder, -1), 5);
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EXPECT_EQ(mj_maxContact(m.get(), capsule, mesh, -1), 5);
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EXPECT_EQ(mj_maxContact(m.get(), cylinder, cylinder, -1), 5);
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EXPECT_EQ(mj_maxContact(m.get(), cylinder, box, -1), 5);
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EXPECT_EQ(mj_maxContact(m.get(), cylinder, mesh, -1), 5);
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}
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} // namespace
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} // namespace mujoco
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