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

Add visualisation groups to skins.

Browse Source 
PiperOrigin-RevId: 458441645
Change-Id: I14324e8efda5142b2718a5cc9215228c7556dbf7
This commit is contained in:
Alessio Quaglino
2022-07-01 04:56:46 -07:00
committed by Copybara-Service
parent 040deb161f
commit 2d0995b47c
19 changed files with 256 additions and 115 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/APIreference.rst
+8 -7
View File
@@ -2222,16 +2222,17 @@ mjvOption
.. code-block:: C .. code-block:: C
struct _mjvOption // abstract visualization options struct _mjvOption // abstract visualization options
{ {
int label; // what objects to label (mjtLabel) int label; // what objects to label (mjtLabel)
int frame; // which frame to show (mjtFrame) int frame; // which frame to show (mjtFrame)
mjtByte geomgroup[mjNGROUP]; // geom visualization by group mjtByte geomgroup[mjNGROUP]; // geom visualization by group
mjtByte sitegroup[mjNGROUP]; // site visualization by group mjtByte sitegroup[mjNGROUP]; // site visualization by group
mjtByte jointgroup[mjNGROUP]; // joint visualization by group mjtByte jointgroup[mjNGROUP]; // joint visualization by group
mjtByte tendongroup[mjNGROUP]; // tendon visualization by group mjtByte tendongroup[mjNGROUP]; // tendon visualization by group
mjtByte actuatorgroup[mjNGROUP]; // actuator visualization by group mjtByte actuatorgroup[mjNGROUP]; // actuator visualization by group
mjtByte flags[mjNVISFLAG]; // visualization flags (indexed by mjtVisFlag) mjtByte skingroup[mjNGROUP]; // skin visualization by group
mjtByte flags[mjNVISFLAG]; // visualization flags (indexed by mjtVisFlag)
}; };
typedef struct _mjvOption mjvOption; typedef struct _mjvOption mjvOption;
include/mujoco/mjmodel.h
+1
View File
@@ -732,6 +732,7 @@ struct mjModel_ {
// skins // skins
int* skin_matid; // skin material id; -1: none (nskin x 1) int* skin_matid; // skin material id; -1: none (nskin x 1)
int* skin_group; // group for visibility (nskin x 1)
float* skin_rgba; // skin rgba (nskin x 4) float* skin_rgba; // skin rgba (nskin x 4)
float* skin_inflate; // inflate skin in normal direction (nskin x 1) float* skin_inflate; // inflate skin in normal direction (nskin x 1)
int* skin_vertadr; // first vertex address (nskin x 1) int* skin_vertadr; // first vertex address (nskin x 1)
include/mujoco/mjvisualize.h
+10 -9
View File
@@ -18,7 +18,7 @@
#include <mujoco/mjtnum.h> #include <mujoco/mjtnum.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#define mjNGROUP 6 // number of geom, site, joint groups with visflags #define mjNGROUP 6 // number of geom, site, joint, skin groups with visflags
#define mjMAXLIGHT 100 // maximum number of lights in a scene #define mjMAXLIGHT 100 // maximum number of lights in a scene
#define mjMAXOVERLAY 500 // maximum number of characters in overlay text #define mjMAXOVERLAY 500 // maximum number of characters in overlay text
#define mjMAXLINE 100 // maximum number of lines per plot #define mjMAXLINE 100 // maximum number of lines per plot
@@ -250,15 +250,16 @@ typedef struct mjvLight_ mjvLight;
//---------------------------------- mjvOption ----------------------------------------------------- //---------------------------------- mjvOption -----------------------------------------------------
struct mjvOption_ { // abstract visualization options struct mjvOption_ { // abstract visualization options
int label; // what objects to label (mjtLabel) int label; // what objects to label (mjtLabel)
int frame; // which frame to show (mjtFrame) int frame; // which frame to show (mjtFrame)
mjtByte geomgroup[mjNGROUP]; // geom visualization by group mjtByte geomgroup[mjNGROUP]; // geom visualization by group
mjtByte sitegroup[mjNGROUP]; // site visualization by group mjtByte sitegroup[mjNGROUP]; // site visualization by group
mjtByte jointgroup[mjNGROUP]; // joint visualization by group mjtByte jointgroup[mjNGROUP]; // joint visualization by group
mjtByte tendongroup[mjNGROUP]; // tendon visualization by group mjtByte tendongroup[mjNGROUP]; // tendon visualization by group
mjtByte actuatorgroup[mjNGROUP]; // actuator visualization by group mjtByte actuatorgroup[mjNGROUP]; // actuator visualization by group
mjtByte flags[mjNVISFLAG]; // visualization flags (indexed by mjtVisFlag) mjtByte skingroup[mjNGROUP]; // skin visualization by group
mjtByte flags[mjNVISFLAG]; // visualization flags (indexed by mjtVisFlag)
}; };
typedef struct mjvOption_ mjvOption; typedef struct mjvOption_ mjvOption;
include/mujoco/mjxmacro.h
+1
View File
@@ -267,6 +267,7 @@
X( int, mesh_face, nmeshface, 3 ) \ X( int, mesh_face, nmeshface, 3 ) \
X( int, mesh_graph, nmeshgraph, 1 ) \ X( int, mesh_graph, nmeshgraph, 1 ) \
X( int, skin_matid, nskin, 1 ) \ X( int, skin_matid, nskin, 1 ) \
X( int, skin_group, nskin, 1 ) \
X( float, skin_rgba, nskin, 4 ) \ X( float, skin_rgba, nskin, 4 ) \
X( float, skin_inflate, nskin, 1 ) \ X( float, skin_inflate, nskin, 1 ) \
X( int, skin_vertadr, nskin, 1 ) \ X( int, skin_vertadr, nskin, 1 ) \
python/mujoco/structs.cc
+2
View File
@@ -1053,6 +1053,7 @@ MjvOptionWrapper::MjWrapper()
X(jointgroup), X(jointgroup),
X(tendongroup), X(tendongroup),
X(actuatorgroup), X(actuatorgroup),
X(skingroup),
X(flags) {} X(flags) {}
#undef X #undef X
@@ -2037,6 +2038,7 @@ This is useful for example when the MJB is not available as a file on disk.)"));
X(jointgroup); X(jointgroup);
X(tendongroup); X(tendongroup);
X(actuatorgroup); X(actuatorgroup);
X(skingroup);
X(flags); X(flags);
#undef X #undef X
python/mujoco/structs.h
+1
View File
@@ -700,6 +700,7 @@ class MjWrapper<raw::MjvOption> : public WrapperBase<raw::MjvOption> {
X(jointgroup); X(jointgroup);
X(tendongroup); X(tendongroup);
X(actuatorgroup); X(actuatorgroup);
X(skingroup);
X(flags); X(flags);
#undef X #undef X
}; };
sample/simulate.cc
+7
View File
@@ -877,6 +877,13 @@ void makegroup(int oldstate) {
{mjITEM_CHECKBYTE, "Actuator 3", 2, vopt.actuatorgroup+3, ""}, {mjITEM_CHECKBYTE, "Actuator 3", 2, vopt.actuatorgroup+3, ""},
{mjITEM_CHECKBYTE, "Actuator 4", 2, vopt.actuatorgroup+4, ""}, {mjITEM_CHECKBYTE, "Actuator 4", 2, vopt.actuatorgroup+4, ""},
{mjITEM_CHECKBYTE, "Actuator 5", 2, vopt.actuatorgroup+5, ""}, {mjITEM_CHECKBYTE, "Actuator 5", 2, vopt.actuatorgroup+5, ""},
{mjITEM_SEPARATOR, "Skin groups", 1},
{mjITEM_CHECKBYTE, "Skin 0", 2, vopt.skingroup, ""},
{mjITEM_CHECKBYTE, "Skin 1", 2, vopt.skingroup+1, ""},
{mjITEM_CHECKBYTE, "Skin 2", 2, vopt.skingroup+2, ""},
{mjITEM_CHECKBYTE, "Skin 3", 2, vopt.skingroup+3, ""},
{mjITEM_CHECKBYTE, "Skin 4", 2, vopt.skingroup+4, ""},
{mjITEM_CHECKBYTE, "Skin 5", 2, vopt.skingroup+5, ""},
{mjITEM_END} {mjITEM_END}
}; };
src/engine/engine_vis_init.c
+1
View File
@@ -217,6 +217,7 @@ void mjv_defaultOption(mjvOption* vopt) {
vopt->jointgroup[i] = state; vopt->jointgroup[i] = state;
vopt->tendongroup[i] = state; vopt->tendongroup[i] = state;
vopt->actuatorgroup[i] = state; vopt->actuatorgroup[i] = state;
vopt->skingroup[i] = state;
} }
for (int i=0; i<mjNVISFLAG; i++) { for (int i=0; i<mjNVISFLAG; i++) {
src/engine/engine_vis_visualize.c
+106 -95
View File
@@ -1767,9 +1767,18 @@ void mjv_updateCamera(const mjModel* m, mjData* d, mjvCamera* cam, mjvScene* scn
} }
// update all skins, here for backward API compatibility
// update skins only
void mjv_updateSkin(const mjModel* m, mjData* d, mjvScene* scn) { void mjv_updateSkin(const mjModel* m, mjData* d, mjvScene* scn) {
mjvOption opt;
mjv_defaultOption(&opt);
mjv_updateActiveSkin(m, d, scn, &opt);
mju_warning("mjv_updateSkin is deprecated, please use mjv_updateActiveSkin.");
}
// update visible skins only
void mjv_updateActiveSkin(const mjModel* m, mjData* d, mjvScene* scn, const mjvOption* opt) {
// process skins // process skins
for (int i=0; i<m->nskin; i++) { for (int i=0; i<m->nskin; i++) {
// get info // get info
@@ -1782,111 +1791,113 @@ void mjv_updateSkin(const mjModel* m, mjData* d, mjvScene* scn) {
memset(scn->skinvert + 3*vertadr, 0, 3*vertnum*sizeof(float)); memset(scn->skinvert + 3*vertadr, 0, 3*vertnum*sizeof(float));
memset(scn->skinnormal + 3*vertadr, 0, 3*vertnum*sizeof(float)); memset(scn->skinnormal + 3*vertadr, 0, 3*vertnum*sizeof(float));
// accumulate positions from all bones if (opt->skingroup[m->skin_group[i]]) {
for (int j=m->skin_boneadr[i]; // accumulate positions from all bones
j<m->skin_boneadr[i]+m->skin_bonenum[i]; for (int j=m->skin_boneadr[i];
j++) { j<m->skin_boneadr[i]+m->skin_bonenum[i];
// get bind pose j++) {
mjtNum bindpos[3] = { // get bind pose
(mjtNum) m->skin_bonebindpos[3*j], mjtNum bindpos[3] = {
(mjtNum) m->skin_bonebindpos[3*j+1], (mjtNum) m->skin_bonebindpos[3*j],
(mjtNum) m->skin_bonebindpos[3*j+2] (mjtNum) m->skin_bonebindpos[3*j+1],
}; (mjtNum) m->skin_bonebindpos[3*j+2]
mjtNum bindquat[4] = { };
(mjtNum) m->skin_bonebindquat[4*j], mjtNum bindquat[4] = {
(mjtNum) m->skin_bonebindquat[4*j+1], (mjtNum) m->skin_bonebindquat[4*j],
(mjtNum) m->skin_bonebindquat[4*j+2], (mjtNum) m->skin_bonebindquat[4*j+1],
(mjtNum) m->skin_bonebindquat[4*j+3] (mjtNum) m->skin_bonebindquat[4*j+2],
}; (mjtNum) m->skin_bonebindquat[4*j+3]
// compute rotation
int bodyid = m->skin_bonebodyid[j];
mjtNum quat[4], quatneg[4], rotate[9];
mju_negQuat(quatneg, bindquat);
mju_mulQuat(quat, d->xquat+4*bodyid, quatneg);
mju_quat2Mat(rotate, quat);
// compute translation
mjtNum translate[3];
mju_rotVecMat(translate, bindpos, rotate);
mju_sub3(translate, d->xpos+3*bodyid, translate);
// process all bone vertices
for (int k=m->skin_bonevertadr[j];
k<m->skin_bonevertadr[j]+m->skin_bonevertnum[j];
k++) {
// vertex id and weight
int vid = m->skin_bonevertid[k];
float vweight = m->skin_bonevertweight[k];
// get original position
mjtNum pos[3] = {
(mjtNum) m->skin_vert[3*(vertadr+vid)],
(mjtNum) m->skin_vert[3*(vertadr+vid)+1],
(mjtNum) m->skin_vert[3*(vertadr+vid)+2],
}; };
// transform // compute rotation
mjtNum pos1[3]; int bodyid = m->skin_bonebodyid[j];
mju_rotVecMat(pos1, pos, rotate); mjtNum quat[4], quatneg[4], rotate[9];
mju_addTo3(pos1, translate); mju_negQuat(quatneg, bindquat);
mju_mulQuat(quat, d->xquat+4*bodyid, quatneg);
mju_quat2Mat(rotate, quat);
// accumulate position // compute translation
scn->skinvert[3*(vertadr+vid)] += vweight*(float)pos1[0]; mjtNum translate[3];
scn->skinvert[3*(vertadr+vid)+1] += vweight*(float)pos1[1]; mju_rotVecMat(translate, bindpos, rotate);
scn->skinvert[3*(vertadr+vid)+2] += vweight*(float)pos1[2]; mju_sub3(translate, d->xpos+3*bodyid, translate);
}
}
// compute vertex normals from face normals // process all bone vertices
for (int k=faceadr; k<faceadr+facenum; k++) { for (int k=m->skin_bonevertadr[j];
// get face vertex indices k<m->skin_bonevertadr[j]+m->skin_bonevertnum[j];
int vid[3] = { k++) {
m->skin_face[3*k], // vertex id and weight
m->skin_face[3*k+1], int vid = m->skin_bonevertid[k];
m->skin_face[3*k+2] float vweight = m->skin_bonevertweight[k];
};
// get triangle edges // get original position
mjtNum vec01[3], vec02[3]; mjtNum pos[3] = {
for (int r=0; r<3; r++) { (mjtNum) m->skin_vert[3*(vertadr+vid)],
vec01[r] = scn->skinvert[3*(vertadr+vid[1])+r] - scn->skinvert[3*(vertadr+vid[0])+r]; (mjtNum) m->skin_vert[3*(vertadr+vid)+1],
vec02[r] = scn->skinvert[3*(vertadr+vid[2])+r] - scn->skinvert[3*(vertadr+vid[0])+r]; (mjtNum) m->skin_vert[3*(vertadr+vid)+2],
} };
// compute face normal // transform
mjtNum nrm[3]; mjtNum pos1[3];
mju_cross(nrm, vec01, vec02); mju_rotVecMat(pos1, pos, rotate);
mju_addTo3(pos1, translate);
// add normal to each vertex with weight = area // accumulate position
for (int r=0; r<3; r++) { scn->skinvert[3*(vertadr+vid)] += vweight*(float)pos1[0];
for (int t=0; t<3; t++) { scn->skinvert[3*(vertadr+vid)+1] += vweight*(float)pos1[1];
scn->skinnormal[3*(vertadr+vid[r])+t] += nrm[t]; scn->skinvert[3*(vertadr+vid)+2] += vweight*(float)pos1[2];
} }
} }
}
// normalize normals // compute vertex normals from face normals
for (int k=vertadr; k<vertadr+vertnum; k++) { for (int k=faceadr; k<faceadr+facenum; k++) {
float s = sqrtf( // get face vertex indices
scn->skinnormal[3*k]*scn->skinnormal[3*k] + int vid[3] = {
scn->skinnormal[3*k+1]*scn->skinnormal[3*k+1] + m->skin_face[3*k],
scn->skinnormal[3*k+2]*scn->skinnormal[3*k+2] m->skin_face[3*k+1],
); m->skin_face[3*k+2]
float scl = 1/mjMAX(mjMINVAL, s); };
scn->skinnormal[3*k] *= scl; // get triangle edges
scn->skinnormal[3*k+1] *= scl; mjtNum vec01[3], vec02[3];
scn->skinnormal[3*k+2] *= scl; for (int r=0; r<3; r++) {
} vec01[r] = scn->skinvert[3*(vertadr+vid[1])+r] - scn->skinvert[3*(vertadr+vid[0])+r];
vec02[r] = scn->skinvert[3*(vertadr+vid[2])+r] - scn->skinvert[3*(vertadr+vid[0])+r];
}
// inflate // compute face normal
if (m->skin_inflate[i]) { mjtNum nrm[3];
float inflate = m->skin_inflate[i]; mju_cross(nrm, vec01, vec02);
// add normal to each vertex with weight = area
for (int r=0; r<3; r++) {
for (int t=0; t<3; t++) {
scn->skinnormal[3*(vertadr+vid[r])+t] += nrm[t];
}
}
}
// normalize normals
for (int k=vertadr; k<vertadr+vertnum; k++) { for (int k=vertadr; k<vertadr+vertnum; k++) {
scn->skinvert[3*k] += inflate*scn->skinnormal[3*k]; float s = sqrtf(
scn->skinvert[3*k+1] += inflate*scn->skinnormal[3*k+1]; scn->skinnormal[3*k]*scn->skinnormal[3*k] +
scn->skinvert[3*k+2] += inflate*scn->skinnormal[3*k+2]; scn->skinnormal[3*k+1]*scn->skinnormal[3*k+1] +
scn->skinnormal[3*k+2]*scn->skinnormal[3*k+2]
);
float scl = 1/mjMAX(mjMINVAL, s);
scn->skinnormal[3*k] *= scl;
scn->skinnormal[3*k+1] *= scl;
scn->skinnormal[3*k+2] *= scl;
}
// inflate
if (m->skin_inflate[i]) {
float inflate = m->skin_inflate[i];
for (int k=vertadr; k<vertadr+vertnum; k++) {
scn->skinvert[3*k] += inflate*scn->skinnormal[3*k];
scn->skinvert[3*k+1] += inflate*scn->skinnormal[3*k+1];
scn->skinvert[3*k+2] += inflate*scn->skinnormal[3*k+2];
}
} }
} }
} }
@@ -1909,6 +1920,6 @@ void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
// update skins // update skins
if (opt->flags[mjVIS_SKIN]) { if (opt->flags[mjVIS_SKIN]) {
mjv_updateSkin(m, d, scn); mjv_updateActiveSkin(m, d, scn, opt);
} }
} }
src/engine/engine_vis_visualize.h
+3
View File
@@ -51,6 +51,9 @@ MJAPI void mjv_updateCamera(const mjModel* m, mjData* d, mjvCamera* cam, mjvScen
// update skins only // update skins only
MJAPI void mjv_updateSkin(const mjModel* m, mjData* d, mjvScene* scn); MJAPI void mjv_updateSkin(const mjModel* m, mjData* d, mjvScene* scn);
// update visible skins only
MJAPI void mjv_updateActiveSkin(const mjModel* m, mjData* d, mjvScene* scn, const mjvOption* opt);
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
src/user/user_composite.cc
+4
View File
@@ -67,6 +67,7 @@ mjCComposite::mjCComposite(void) {
mjuu_setvec(skinrgba, 1, 1, 1, 1); mjuu_setvec(skinrgba, 1, 1, 1, 1);
skininflate = 0; skininflate = 0;
skinsubgrid = 0; skinsubgrid = 0;
skingroup = 0;
// clear add flags // clear add flags
for (int i=0; i<mjNCOMPKINDS; i++) { for (int i=0; i<mjNCOMPKINDS; i++) {
@@ -1053,6 +1054,7 @@ void mjCComposite::MakeSkin2(mjCModel* model) {
skin->material = skinmaterial; skin->material = skinmaterial;
mjuu_copyvec(skin->rgba, skinrgba, 4); mjuu_copyvec(skin->rgba, skinrgba, 4);
skin->inflate = skininflate; skin->inflate = skininflate;
skin->group = skingroup;
// populate mesh: two sides // populate mesh: two sides
for (int i=0; i<2; i++) { for (int i=0; i<2; i++) {
@@ -1473,6 +1475,7 @@ void mjCComposite::MakeSkin2Subgrid(mjCModel* model) {
skin->material = skinmaterial; skin->material = skinmaterial;
mjuu_copyvec(skin->rgba, skinrgba, 4); mjuu_copyvec(skin->rgba, skinrgba, 4);
skin->inflate = skininflate; skin->inflate = skininflate;
skin->group = skingroup;
// populate mesh: two sides // populate mesh: two sides
mjtNum S = spacing/(1+skinsubgrid); mjtNum S = spacing/(1+skinsubgrid);
@@ -1643,6 +1646,7 @@ void mjCComposite::MakeSkin3(mjCModel* model) {
skin->material = skinmaterial; skin->material = skinmaterial;
mjuu_copyvec(skin->rgba, skinrgba, 4); mjuu_copyvec(skin->rgba, skinrgba, 4);
skin->inflate = skininflate; skin->inflate = skininflate;
skin->group = skingroup;
// box // box
if (type==mjCOMPTYPE_BOX) { if (type==mjCOMPTYPE_BOX) {
src/user/user_composite.h
+1
View File
@@ -94,6 +94,7 @@ class mjCComposite {
float skinrgba[4]; // skin rgba float skinrgba[4]; // skin rgba
float skininflate; // inflate skin float skininflate; // inflate skin
int skinsubgrid; // number of skin subgrid points; 0: none (2D only) int skinsubgrid; // number of skin subgrid points; 0: none (2D only)
int skingroup; // skin group of the composite object
// element options // element options
bool add[mjNCOMPKINDS]; // add element bool add[mjNCOMPKINDS]; // add element
src/user/user_mesh.cc
+1 -1
View File
@@ -1408,6 +1408,7 @@ mjCSkin::mjCSkin(mjCModel* _model) {
rgba[0] = rgba[1] = rgba[2] = 0.5f; rgba[0] = rgba[1] = rgba[2] = 0.5f;
rgba[3] = 1.0f; rgba[3] = 1.0f;
inflate = 0; inflate = 0;
group = 0;
vert.clear(); vert.clear();
texcoord.clear(); texcoord.clear();
@@ -1530,7 +1531,6 @@ void mjCSkin::Compile(const mjVFS* vfs) {
throw mjCError(this, "unkown material '%s' in skin", material.c_str()); throw mjCError(this, "unkown material '%s' in skin", material.c_str());
} }
// set total vertex weights to 0 // set total vertex weights to 0
vector<float> vw; vector<float> vw;
size_t nvert = vert.size()/3; size_t nvert = vert.size()/3;
src/user/user_model.cc
+1
View File
@@ -1628,6 +1628,7 @@ void mjCModel::CopyObjects(mjModel* m) {
// set fields // set fields
m->skin_matid[i] = psk->matid; m->skin_matid[i] = psk->matid;
copyvec(m->skin_rgba+4*i, psk->rgba, 4); copyvec(m->skin_rgba+4*i, psk->rgba, 4);
m->skin_group[i] = psk->group;
m->skin_inflate[i] = psk->inflate; m->skin_inflate[i] = psk->inflate;
m->skin_vertadr[i] = vert_adr; m->skin_vertadr[i] = vert_adr;
m->skin_vertnum[i] = psk->vert.size()/3; m->skin_vertnum[i] = psk->vert.size()/3;
src/user/user_objects.h
+1
View File
@@ -504,6 +504,7 @@ class mjCSkin: public mjCBase {
std::string material; // name of material used for rendering std::string material; // name of material used for rendering
float rgba[4]; // rgba when material is omitted float rgba[4]; // rgba when material is omitted
float inflate; // inflate in normal direction float inflate; // inflate in normal direction
int group; // group for visualization
// mesh // mesh
std::vector<float> vert; // vertex positions std::vector<float> vert; // vertex positions
src/xml/xml_native_reader.cc
+12 -3
View File
@@ -22,6 +22,7 @@
#include <vector> #include <vector>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjvisualize.h>
#include "engine/engine_macro.h" #include "engine/engine_macro.h"
#include "engine/engine_util_errmem.h" #include "engine/engine_util_errmem.h"
#include "engine/engine_util_misc.h" #include "engine/engine_util_misc.h"
@@ -165,8 +166,8 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"hfield", "*", "5", "name", "file", "nrow", "ncol", "size"}, {"hfield", "*", "5", "name", "file", "nrow", "ncol", "size"},
{"mesh", "*", "11", "name", "class", "file", "vertex", "normal", {"mesh", "*", "11", "name", "class", "file", "vertex", "normal",
"texcoord", "face", "refpos", "refquat", "scale", "smoothnormal"}, "texcoord", "face", "refpos", "refquat", "scale", "smoothnormal"},
{"skin", "*", "8", "name", "file", "material", "rgba", "inflate", {"skin", "*", "9", "name", "file", "material", "rgba", "inflate",
"vertex", "texcoord", "face"}, "vertex", "texcoord", "face", "group"},
{"<"}, {"<"},
{"bone", "*", "5", "body", "bindpos", "bindquat", "vertid", "vertweight"}, {"bone", "*", "5", "body", "bindpos", "bindquat", "vertid", "vertweight"},
{">"}, {">"},
@@ -210,7 +211,7 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
"limited", "range", "margin", "solreflimit", "solimplimit", "limited", "range", "margin", "solreflimit", "solimplimit",
"frictionloss", "solreffriction", "solimpfriction", "frictionloss", "solreffriction", "solimpfriction",
"material", "rgba", "width"}, "material", "rgba", "width"},
{"skin", "?", "5", "texcoord", "material", "rgba", "inflate", "subgrid"}, {"skin", "?", "6", "texcoord", "material", "group", "rgba", "inflate", "subgrid"},
{"geom", "?", "17", "type", "contype", "conaffinity", "condim", {"geom", "?", "17", "type", "contype", "conaffinity", "condim",
"group", "priority", "size", "material", "rgba", "friction", "mass", "group", "priority", "size", "material", "rgba", "friction", "mass",
"density", "solmix", "solref", "solimp", "margin", "gap"}, "density", "solmix", "solref", "solimp", "margin", "gap"},
@@ -983,6 +984,10 @@ void mjXReader::OneSkin(XMLElement* elem, mjCSkin* pskin) {
ReadAttrTxt(elem, "name", pskin->name); ReadAttrTxt(elem, "name", pskin->name);
ReadAttrTxt(elem, "file", pskin->file); ReadAttrTxt(elem, "file", pskin->file);
ReadAttrTxt(elem, "material", pskin->material); ReadAttrTxt(elem, "material", pskin->material);
ReadAttrInt(elem, "group", &pskin->group);
if (pskin->group<0 || pskin->group>=mjNGROUP) {
throw mjXError(elem, "skin group must be between 0 and 5");
}
ReadAttr(elem, "rgba", 4, pskin->rgba, text); ReadAttr(elem, "rgba", 4, pskin->rgba, text);
ReadAttr(elem, "inflate", 1, &pskin->inflate, text); ReadAttr(elem, "inflate", 1, &pskin->inflate, text);
@@ -1617,6 +1622,10 @@ void mjXReader::OneComposite(XMLElement* elem, mjCBody* pbody, mjCDef* def) {
ReadAttr(eskin, "rgba", 4, comp.skinrgba, text); ReadAttr(eskin, "rgba", 4, comp.skinrgba, text);
ReadAttr(eskin, "inflate", 1, &comp.skininflate, text); ReadAttr(eskin, "inflate", 1, &comp.skininflate, text);
ReadAttrInt(eskin, "subgrid", &comp.skinsubgrid); ReadAttrInt(eskin, "subgrid", &comp.skinsubgrid);
ReadAttrInt(eskin, "group", &comp.skingroup, 0);
if (comp.skingroup<0 || comp.skingroup>=mjNGROUP) {
throw mjXError(eskin, "skin group must be between 0 and 5");
}
} }
// set type-specific defaults // set type-specific defaults
src/xml/xml_native_writer.cc
+1
View File
@@ -125,6 +125,7 @@ void mjXWriter::OneSkin(XMLElement* elem, mjCSkin* pskin) {
WriteAttrTxt(elem, "name", pskin->name); WriteAttrTxt(elem, "name", pskin->name);
WriteAttrTxt(elem, "file", pskin->file); WriteAttrTxt(elem, "file", pskin->file);
WriteAttrTxt(elem, "material", pskin->material); WriteAttrTxt(elem, "material", pskin->material);
WriteAttrInt(elem, "group", pskin->group, 0);
WriteAttr(elem, "rgba", 4, pskin->rgba, mydef.geom.rgba); WriteAttr(elem, "rgba", 4, pskin->rgba, mydef.geom.rgba);
WriteAttr(elem, "inflate", 1, &pskin->inflate, &zero); WriteAttr(elem, "inflate", 1, &pskin->inflate, &zero);
test/engine/testdata/skingroup.xml
Vendored
+44
View File
@@ -0,0 +1,44 @@
<mujoco>
<asset>
<skin name="skin" rgba="1 0 1 1" inflate="0.01"
vertex="
-.5 -.5 -.5
.5 -.5 -.5
-.5 .5 -.5
.5 .5 -.5
-.5 -.5 .5
.5 -.5 .5
-.5 .5 .5
.5 .5 .5"
texcoord=".1 .1 .1 .1 .1 .1 .1 .1 .1 .1 .1 .1 .1 .1 .1 .1"
face="0 1 4 4 1 5 5 1 3 5 3 7 7 3 2 7 2 6 6 2 0 6 0 4 4 5 7 4 7 6">
<bone body="box" bindpos="0 0 .5" bindquat="1 0 0 0" vertid="4 5 6 7" vertweight="1 1 1 1"/>
<bone body="world" bindpos="0 0 -.5" bindquat="1 0 0 0" vertid="0 1 2 3" vertweight="1 1 1 1"/>
</skin>
</asset>
<worldbody>
<geom type="plane" size="2 2 .01"/>
<light pos="0 1 3" dir="0 -1 -2"/>
<light pos="0 -1 3" dir="0 1 -2"/>
<body name="box" pos="0 0 .9">
<joint limited="true" range="-45 45"/>
<geom type="box" size=".5 .5 .1"/>
</body>
<body pos="1 -1 .6">
<freejoint/>
<composite prefix="B0" type="box" count="4 4 4" spacing=".2">
<geom group="4" size=".1"/>
<skin rgba="1 1 0 1" group="2"/>
</composite>
</body>
<body pos="-1 1 .6">
<freejoint/>
<composite prefix="B1" type="box" count="4 4 4" spacing=".2">
<geom group="2" size=".1"/>
<skin rgba="0 1 1 1" group="4"/>
</composite>
</body>
</worldbody>
</mujoco>
test/xml/xml_native_reader_test.cc
+51
View File
@@ -379,6 +379,57 @@ TEST_F(UserDataTest, PositiveControlRange) {
EXPECT_THAT(error.data(), HasSubstr("control range cannot be negative")); EXPECT_THAT(error.data(), HasSubstr("control range cannot be negative"));
} }
TEST_F(UserDataTest, ReadsSkinGroups) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<composite prefix="B0" type="box" count="4 4 4" spacing=".2">
<geom size=".1" group="2"/>
<skin group="4"/>
</composite>
</body>
<body>
<composite prefix="B1" type="box" count="4 4 4" spacing=".2">
<geom size=".1" group="4"/>
<skin group="2"/>
</composite>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
int geomid1 = mj_name2id(model, mjOBJ_GEOM, "B0G0_0_0");
int geomid2 = mj_name2id(model, mjOBJ_GEOM, "B1G0_0_0");
EXPECT_THAT(model->geom_group[geomid1], 2);
EXPECT_THAT(model->skin_group[0], 4);
EXPECT_THAT(model->geom_group[geomid2], 4);
EXPECT_THAT(model->skin_group[1], 2);
mj_deleteModel(model);
}
TEST_F(UserDataTest, InvalidSkinGroup) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<composite prefix="B0" type="box" count="6 6 6" spacing=".2">
<geom size=".1"/>
<skin group="6"/>
</composite>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("skin group must be between 0 and 5\nElement 'skin', line 7"));
mj_deleteModel(model);
}
// ------------- test relative frame sensor parsing ---------------------------- // ------------- test relative frame sensor parsing ----------------------------
using RelativeFrameSensorParsingTest = MujocoTest; using RelativeFrameSensorParsingTest = MujocoTest;