Aren't there already cheap composting toilets that safely and relatively odorlessly compost human waste, without he assistance of a bunch of grant-hungry, plasm

Aren't there already cheap composting toilets that safely and relatively odorlessly compost human waste, without he assistance of a bunch of grant-hungry, plasma torch-wielding scientists. If I recall, you can't pee in them due to ammonia, but there are separate ways to handle fluid wastes. Perhaps the articles is just trying to disguise the use of incinerators.