Datasets:

introvoyz041
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mujoco

	// Copyright 2021 DeepMind Technologies Limited
	//
	// Licensed under the Apache License, Version 2.0 (the "License");
	// you may not use this file except in compliance with the License.
	// You may obtain a copy of the License at
	//
	// http://www.apache.org/licenses/LICENSE-2.0
	//
	// Unless required by applicable law or agreed to in writing, software
	// distributed under the License is distributed on an "AS IS" BASIS,
	// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
	// See the License for the specific language governing permissions and
	// limitations under the License.

	// Tests for engine/engine_core_smooth.c.

	#include <cstddef>
	#include <string>

	#include <gmock/gmock.h>
	#include <gtest/gtest.h>
	#include <mujoco/mjmodel.h>
	#include <mujoco/mujoco.h>
	#include "test/fixture.h"

	namespace mujoco {
	namespace {

	using ::testing::ElementsAre;
	using ::testing::NotNull;
	using CoreSmoothTest = MujocoTest;

	static std::vector<mjtNum> GetVector(const mjtNum* array, int length) {
	return std::vector<mjtNum>(array, array + length);
	}


	// ------------------------ ellipsoid fluid model ------------------------------

	using EllipsoidFluidTest = MujocoTest;

	TEST_F(EllipsoidFluidTest, GeomsEquivalentToBodies) {
	static constexpr char two_bodies_xml[] = R"(
	<mujoco>
	<option wind="5 5 0" density="10"/>
	<worldbody>
	<body>
	<freejoint/>
	<body>
	<geom type="box" size=".1 .01 0.01" pos="0.1 0 0" euler="40 0 0" fluidshape="ellipsoid"/>
	</body>
	<body>
	<geom type="box" size=".1 .01 0.01" pos="-.1 0 0" euler="0 20 0" fluidshape="ellipsoid"/>
	</body>
	</body>
	</worldbody>
	</mujoco>
	)";

	mjModel* m2 = LoadModelFromString(two_bodies_xml);
	mjData* d2 = mj_makeData(m2);
	for (int i = 0; i < 6; i++) {
	d2->qvel[i] = (mjtNum) i+1;
	}
	d2->qpos[3] = 0.5;
	d2->qpos[4] = 0.5;
	d2->qpos[5] = 0.5;
	d2->qpos[6] = 0.5;

	static constexpr char one_body_xml[] = R"(
	<mujoco>
	<option wind="5 5 0" density="10"/>
	<worldbody>
	<body pos="1 2 3">
	<freejoint align="false"/>
	<geom type="box" size=".1 .01 0.01" pos="0.1 0 0" euler="40 0 0" fluidshape="ellipsoid"/>
	<geom type="box" size=".1 .01 0.01" pos="-.1 0 0" euler="0 20 0" fluidshape="ellipsoid"/>
	</body>
	</worldbody>
	</mujoco>
	)";

	mjModel* m1 = LoadModelFromString(one_body_xml);
	mjData* d1 = mj_makeData(m1);
	for (int i = 0; i < 6; i++) {
	d1->qvel[i] = (mjtNum) i+1;
	}
	d1->qpos[3] = 0.5;
	d1->qpos[4] = 0.5;
	d1->qpos[5] = 0.5;
	d1->qpos[6] = 0.5;

	const mjtNum tol = 1e-14; // tolerance for floating point numbers

	EXPECT_EQ(m1->nv, m2->nv);

	mj_forward(m2, d2);
	mj_forward(m1, d1);
	for (int i = 0; i < m1->nv; i++) {
	EXPECT_NEAR(d2->qfrc_passive[i], d1->qfrc_passive[i], tol);
	}

	mj_deleteData(d1);
	mj_deleteModel(m1);
	mj_deleteData(d2);
	mj_deleteModel(m2);
	}

	TEST_F(EllipsoidFluidTest, DefaultsPropagate) {
	static constexpr char xml[] = R"(
	<mujoco>
	<option wind="5 5 0" density="10"/>
	<default>
	<geom fluidshape="ellipsoid" fluidcoef="2 3 4 5 6"/>
	<default class="test_class">
	<geom fluidshape="none" fluidcoef="5 4 3 2 1"/>
	</default>
	</default>
	<worldbody>
	<body>
	<freejoint/>
	<geom type="box" size=".1 .01 0.01" pos="0.1 0 0" class="test_class"/>
	<geom type="box" size=".1 .01 0.01" pos="-0.1 0 0"/>
	</body>
	</worldbody>
	</mujoco>
	)";

	mjModel* model = LoadModelFromString(xml);
	EXPECT_THAT(GetVector(model->geom_fluid, 6),
	ElementsAre(0, 0, 0, 0, 0, 0));
	EXPECT_THAT(GetVector(model->geom_fluid + mjNFLUID, 6),
	ElementsAre(1, 2, 3, 4, 5, 6));
	mj_deleteModel(model);
	}


	// ------------------------------ tendons --------------------------------------

	using TendonTest = MujocoTest;

	// check tendon spring deadband using example model
	TEST_F(TendonTest, SpringrangeDeadband) {
	const std::string xml_path =
	GetTestDataFilePath("engine/testdata/tendon_springlength.xml");
	mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
	ASSERT_THAT(model, NotNull());
	mjData* data = mj_makeData(model);

	// initial state outside deadband: spring is active
	mj_forward(model, data);
	mjtNum expected_force = model->tendon_stiffness[0] *
	(model->tendon_lengthspring[1] - data->ten_length[0]);
	EXPECT_EQ(expected_force, data->qfrc_passive[0]);

	// put body inside deadband: spring is inactive
	data->qpos[0] = -1;
	mj_forward(model, data);
	EXPECT_EQ(0, data->qfrc_passive[0]);

	mj_deleteData(data);
	mj_deleteModel(model);
	}

	} // namespace
	} // namespace mujoco