Alessio Quaglino
3de2873883
PiperOrigin-RevId: 494985209 Change-Id: I6ce7ca2aeae6f1e798bd4bda9b755852add26a36
126 lines
3.5 KiB
C++
126 lines
3.5 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 <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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// ------------- test automatic inference of nuser_xxx -------------------------
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TEST_F(UserCompositeTest, MultipleJointsNotAllowedUnlessParticle) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body>
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<freejoint/>
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<composite type="box" count="7 7 7" spacing="0.04">
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<joint kind="main" solreffix="0.03 1" solimpfix="0 .1 .01"/>
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<joint kind="main" solreffix="0.03 1" solimpfix="0 .1 .01"/>
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</composite>
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</body>
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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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mjModel* m = LoadModelFromString(xml, error.data(), error.size());
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EXPECT_THAT(m, IsNull());
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EXPECT_THAT(error.data(),
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HasSubstr("Only particles are allowed to have multiple joints"));
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}
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TEST_F(UserCompositeTest, StretchAndTwistAllowed) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body name="B10">
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<freejoint/>
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<composite type="rope" count="21 1 1" spacing="0.04">
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<joint kind="main" damping="0.005"/>
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<joint kind="stretch" damping="0.005"/>
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<joint kind="twist" damping="0.005"/>
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<geom type="capsule" size=".01 .015"/>
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</composite>
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</body>
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</worldbody>
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</mujoco>
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)";
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static char warning[1024];
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warning[0] = '\0';
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mju_user_warning = [](const char* msg) {
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util::strcpy_arr(warning, msg);
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};
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std::array<char, 1024> error;
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mjModel* m = LoadModelFromString(xml, error.data(), error.size());
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EXPECT_THAT(m, NotNull());
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EXPECT_THAT(warning, HasSubstr("deprecated"));
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mj_deleteModel(m);
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}
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TEST_F(UserCompositeTest, SpacingGreaterThanGeometry) {
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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="grid" count="282 2">
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<geom size="8"/>
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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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mjModel* m = LoadModelFromString(xml, error.data(), error.size());
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EXPECT_THAT(m, IsNull()) << error.data();
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EXPECT_THAT(error.data(),
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HasSubstr("Spacing must be larger than geometry size"));
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}
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TEST_F(UserCompositeTest, SpacingEqualToGeometry) {
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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="grid" count="282 2" spacing="8">
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<geom size="8"/>
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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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mjModel* m = LoadModelFromString(xml, error.data(), error.size());
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EXPECT_THAT(m, NotNull()) << error.data();
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mjData* d = mj_makeData(m);
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mj_step(m, d);
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mj_deleteData(d);
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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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