chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add keyframe support to attach.

Browse Source 
Limitations:
- Supports attaching a single keyframe. If multiple keyframes are present in the child, only the first one will be attached.
- Does not support time, ctrl, mpos, mquat.
- If mjs_detachBody is used, all keyframes are removed.
PiperOrigin-RevId: 662517666
Change-Id: If6e3839471e1884afc14e1a75e7ce1957c2f3581
This commit is contained in:
Alessio Quaglino
2024-08-13 07:59:00 -07:00
committed by Copybara-Service
parent 98cd49d529
commit 19aa68c2b2
6 changed files with 233 additions and 29 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/user/user_api_test.cc
+30 -10
View File
@@ -421,13 +421,18 @@ static constexpr char xml_child[] = R"(
</tendon>
<actuator>
<position name="hinge" joint="hinge"/>
<position name="fixed" tendon="fixed"/>
<position name="hinge" joint="hinge" timeconst=".01"/>
<position name="fixed" tendon="fixed" timeconst=".01"/>
</actuator>
<contact>
<exclude body1="body" body2="targetbody"/>
</contact>
<keyframe>
<key name="two" qpos="2" act="2 2"/>
<key name="three" qpos="3" act="3 3"/>
</keyframe>
</mujoco>)";
TEST_F(MujocoTest, AttachSame) {
@@ -484,16 +489,22 @@ TEST_F(MujocoTest, AttachSame) {
</tendon>
<actuator>
<position name="hinge" joint="hinge"/>
<position name="fixed" tendon="fixed"/>
<position name="attached-hinge-1" joint="attached-hinge-1"/>
<position name="attached-fixed-1" tendon="attached-fixed-1"/>
<position name="hinge" joint="hinge" timeconst=".01"/>
<position name="fixed" tendon="fixed" timeconst=".01"/>
<position name="attached-hinge-1" joint="attached-hinge-1" timeconst=".01"/>
<position name="attached-fixed-1" tendon="attached-fixed-1" timeconst=".01"/>
</actuator>
<contact>
<exclude body1="body" body2="targetbody"/>
<exclude body1="attached-body-1" body2="attached-targetbody-1"/>
</contact>
<keyframe>
<key name="two" qpos="2 0" act="2 2 0 0"/>
<key name="three" qpos="3 0" act="3 3 0 0"/>
<key name="attached-two-1" qpos="0 2" act="0 0 2 2"/>
</keyframe>
</mujoco>)";
// create parent
@@ -600,13 +611,17 @@ TEST_F(MujocoTest, AttachDifferent) {
</tendon>
<actuator>
<position name="attached-hinge-1" joint="attached-hinge-1"/>
<position name="attached-fixed-1" tendon="attached-fixed-1"/>
<position name="attached-hinge-1" joint="attached-hinge-1" timeconst=".01"/>
<position name="attached-fixed-1" tendon="attached-fixed-1" timeconst=".01"/>
</actuator>
<contact>
<exclude body1="attached-body-1" body2="attached-targetbody-1"/>
</contact>
<keyframe>
<key name="attached-two-1" qpos="0 0 0 1 0 0 0 2" act="2 2"/>
</keyframe>
</mujoco>)";
// model with one free sphere and a frame
@@ -717,13 +732,17 @@ TEST_F(MujocoTest, AttachFrame) {
</tendon>
<actuator>
<position name="attached-hinge-1" joint="attached-hinge-1"/>
<position name="attached-fixed-1" tendon="attached-fixed-1"/>
<position name="attached-hinge-1" joint="attached-hinge-1" timeconst=".01"/>
<position name="attached-fixed-1" tendon="attached-fixed-1" timeconst=".01"/>
</actuator>
<contact>
<exclude body1="attached-body-1" body2="attached-targetbody-1"/>
</contact>
<keyframe>
<key name="attached-two-1" qpos="0 0 0 1 0 0 0 2" act="2 2"/>
</keyframe>
</mujoco>)";
// model with one free sphere and a frame
@@ -790,6 +809,7 @@ void TestDetachBody(bool compile) {
<body name="ignore"/>
<frame name="frame" pos=".1 0 0" euler="0 90 0"/>
</worldbody>
<sensor>
<framepos name="ignore" objtype="body" objname="ignore"/>
</sensor>