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Add mj_geomDistance API function and sensors for geometric distance, normal direction and segment between between two geoms. Fixes #51

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PiperOrigin-RevId: 632458301
Change-Id: I65b7e5bb0df59008028114cf4a07e0d6365ff3d3
This commit is contained in:
Yuval Tassa
2024-05-10 04:51:46 -07:00
committed by Copybara-Service
parent 31de1dad9d
commit 02d015458c
29 changed files with 1002 additions and 66 deletions
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src/xml/xml_native_reader.cc
+26
View File
@@ -472,6 +472,9 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
{"subtreecom", "*", "5", "name", "body", "cutoff", "noise", "user"},
{"subtreelinvel", "*", "5", "name", "body", "cutoff", "noise", "user"},
{"subtreeangmom", "*", "5", "name", "body", "cutoff", "noise", "user"},
{"distance", "*", "8", "name", "geom1", "geom2", "body1", "body2", "cutoff", "noise", "user"},
{"normal", "*", "8", "name", "geom1", "geom2", "body1", "body2", "cutoff", "noise", "user"},
{"fromto", "*", "8", "name", "geom1", "geom2", "body1", "body2", "cutoff", "noise", "user"},
{"clock", "*", "4", "name", "cutoff", "noise", "user"},
{"user", "*", "9", "name", "objtype", "objname", "datatype", "needstage",
"dim", "cutoff", "noise", "user"},
@@ -3949,6 +3952,29 @@ void mjXReader::Sensor(XMLElement* section) {
ReadAttrTxt(elem, "body", objname, true);
}
// sensors for geometric distance; attached to geoms or bodies
else if (type=="distance" || type=="normal" || type=="fromto") {
bool has_body1 = ReadAttrTxt(elem, "body1", objname);
bool has_geom1 = ReadAttrTxt(elem, "geom1", objname);
if (has_body1 == has_geom1) {
throw mjXError(elem, "exactly one of (geom1, body1) must be specified");
}
psen->objtype = has_body1 ? mjOBJ_BODY : mjOBJ_GEOM;
bool has_body2 = ReadAttrTxt(elem, "body2", refname);
bool has_geom2 = ReadAttrTxt(elem, "geom2", refname);
if (has_body2 == has_geom2) {
throw mjXError(elem, "exactly one of (geom2, body2) must be specified");
}
psen->reftype = has_body2 ? mjOBJ_BODY : mjOBJ_GEOM;
if (type=="distance") {
psen->type = mjSENS_GEOMDIST;
} else if (type=="normal") {
psen->type = mjSENS_GEOMNORMAL;
} else {
psen->type = mjSENS_GEOMFROMTO;
}
}
// global sensors
else if (type=="clock") {
psen->type = mjSENS_CLOCK;
src/xml/xml_native_reader.h
+1 -1
View File
@@ -99,7 +99,7 @@ class mjXReader : public mjXBase {
};
// MJCF schema
#define nMJCF 227
#define nMJCF 230
extern const char* MJCF[nMJCF][mjXATTRNUM];
#endif // MUJOCO_SRC_XML_XML_NATIVE_READER_H_
src/xml/xml_native_writer.cc
+51 -6
View File
@@ -1875,46 +1875,82 @@ void mjXWriter::Sensor(XMLElement* root) {
elem = InsertEnd(section, "framepos");
WriteAttrTxt(elem, "objtype", mju_type2Str(psen->objtype));
WriteAttrTxt(elem, "objname", psen->get_objname());
if (psen->reftype != mjOBJ_UNKNOWN) {
WriteAttrTxt(elem, "reftype", mju_type2Str(psen->reftype));
WriteAttrTxt(elem, "refname", psen->get_refname());
}
break;
case mjSENS_FRAMEQUAT:
elem = InsertEnd(section, "framequat");
WriteAttrTxt(elem, "objtype", mju_type2Str(psen->objtype));
WriteAttrTxt(elem, "objname", psen->get_objname());
if (psen->reftype != mjOBJ_UNKNOWN) {
WriteAttrTxt(elem, "reftype", mju_type2Str(psen->reftype));
WriteAttrTxt(elem, "refname", psen->get_refname());
}
break;
case mjSENS_FRAMEXAXIS:
elem = InsertEnd(section, "framexaxis");
WriteAttrTxt(elem, "objtype", mju_type2Str(psen->objtype));
WriteAttrTxt(elem, "objname", psen->get_objname());
if (psen->reftype != mjOBJ_UNKNOWN) {
WriteAttrTxt(elem, "reftype", mju_type2Str(psen->reftype));
WriteAttrTxt(elem, "refname", psen->get_refname());
}
break;
case mjSENS_FRAMEYAXIS:
elem = InsertEnd(section, "frameyaxis");
WriteAttrTxt(elem, "objtype", mju_type2Str(psen->objtype));
WriteAttrTxt(elem, "objname", psen->get_objname());
if (psen->reftype != mjOBJ_UNKNOWN) {
WriteAttrTxt(elem, "reftype", mju_type2Str(psen->reftype));
WriteAttrTxt(elem, "refname", psen->get_refname());
}
break;
case mjSENS_FRAMEZAXIS:
elem = InsertEnd(section, "framezaxis");
WriteAttrTxt(elem, "objtype", mju_type2Str(psen->objtype));
WriteAttrTxt(elem, "objname", psen->get_objname());
if (psen->reftype != mjOBJ_UNKNOWN) {
WriteAttrTxt(elem, "reftype", mju_type2Str(psen->reftype));
WriteAttrTxt(elem, "refname", psen->get_refname());
}
break;
case mjSENS_FRAMELINVEL:
elem = InsertEnd(section, "framelinvel");
WriteAttrTxt(elem, "objtype", mju_type2Str(psen->objtype));
WriteAttrTxt(elem, "objname", psen->get_objname());
if (psen->reftype != mjOBJ_UNKNOWN) {
WriteAttrTxt(elem, "reftype", mju_type2Str(psen->reftype));
WriteAttrTxt(elem, "refname", psen->get_refname());
}
break;
case mjSENS_FRAMEANGVEL:
elem = InsertEnd(section, "frameangvel");
WriteAttrTxt(elem, "objtype", mju_type2Str(psen->objtype));
WriteAttrTxt(elem, "objname", psen->get_objname());
if (psen->reftype != mjOBJ_UNKNOWN) {
WriteAttrTxt(elem, "reftype", mju_type2Str(psen->reftype));
WriteAttrTxt(elem, "refname", psen->get_refname());
}
break;
case mjSENS_FRAMELINACC:
elem = InsertEnd(section, "framelinacc");
WriteAttrTxt(elem, "objtype", mju_type2Str(psen->objtype));
WriteAttrTxt(elem, "objname", psen->get_objname());
if (psen->reftype != mjOBJ_UNKNOWN) {
WriteAttrTxt(elem, "reftype", mju_type2Str(psen->reftype));
WriteAttrTxt(elem, "refname", psen->get_refname());
}
break;
case mjSENS_FRAMEANGACC:
elem = InsertEnd(section, "frameangacc");
WriteAttrTxt(elem, "objtype", mju_type2Str(psen->objtype));
WriteAttrTxt(elem, "objname", psen->get_objname());
if (psen->reftype != mjOBJ_UNKNOWN) {
WriteAttrTxt(elem, "reftype", mju_type2Str(psen->reftype));
WriteAttrTxt(elem, "refname", psen->get_refname());
}
break;
// sensors related to kinematic subtrees; attached to a body (which is the subtree root)
@@ -1930,6 +1966,21 @@ void mjXWriter::Sensor(XMLElement* root) {
elem = InsertEnd(section, "subtreeangmom");
WriteAttrTxt(elem, "body", psen->get_objname());
break;
case mjSENS_GEOMDIST:
elem = InsertEnd(section, "distance");
WriteAttrTxt(elem, psen->objtype == mjOBJ_BODY ? "body1" : "geom1", psen->get_objname());
WriteAttrTxt(elem, psen->reftype == mjOBJ_BODY ? "body2" : "geom2", psen->get_refname());
break;
case mjSENS_GEOMNORMAL:
elem = InsertEnd(section, "normal");
WriteAttrTxt(elem, psen->objtype == mjOBJ_BODY ? "body1" : "geom1", psen->get_objname());
WriteAttrTxt(elem, psen->reftype == mjOBJ_BODY ? "body2" : "geom2", psen->get_refname());
break;
case mjSENS_GEOMFROMTO:
elem = InsertEnd(section, "fromto");
WriteAttrTxt(elem, psen->objtype == mjOBJ_BODY ? "body1" : "geom1", psen->get_objname());
WriteAttrTxt(elem, psen->reftype == mjOBJ_BODY ? "body2" : "geom2", psen->get_refname());
break;
// global sensors
case mjSENS_CLOCK:
@@ -1968,12 +2019,6 @@ void mjXWriter::Sensor(XMLElement* root) {
WriteAttr(elem, "noise", 1, &psen->noise, &zero);
}
WriteVector(elem, "user", psen->get_userdata());
// add reference if present
if (psen->reftype != mjOBJ_UNKNOWN && psen->type != mjSENS_CAMPROJECTION) {
WriteAttrTxt(elem, "reftype", mju_type2Str(psen->reftype));
WriteAttrTxt(elem, "refname", psen->get_refname());
}
}
// remove section if empty