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Specify camera parameters using standard robotics conventions.

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PiperOrigin-RevId: 569147555
Change-Id: I3443f95e5de56a17024f5e5c03f33888dd583edb
This commit is contained in:
Alessio Quaglino
2023-09-28 05:18:36 -07:00
committed by Copybara-Service
parent ca60de79c8
commit 36d2ffe4f2
28 changed files with 528 additions and 40 deletions
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test/xml/xml_native_reader_test.cc
+55
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@@ -407,6 +407,61 @@ TEST_F(XMLReaderTest, InvalidDoubleOrientation) {
}
}
// ---------------------- test camera parsing ---------------------------------
TEST_F(XMLReaderTest, CameraInvalidFovyAndSensorsize) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1"/>
<camera fovy="1" sensorsize="1 1" resolution="100 100"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, testing::IsNull());
EXPECT_THAT(error.data(), HasSubstr("either 'fovy' or 'sensorsize'"));
}
TEST_F(XMLReaderTest, CameraPricipalRequiresSensorsize) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1"/>
<camera principal="1 1"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, testing::IsNull());
EXPECT_THAT(error.data(), HasSubstr("attribute missing: 'sensorsize'"));
}
TEST_F(XMLReaderTest, CameraSensorsizeRequiresResolution) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1"/>
<camera sensorsize="1 1"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, testing::IsNull());
EXPECT_THAT(error.data(), HasSubstr("attribute missing: 'resolution'"));
}
// ---------------------- test inertia parsing --------------------------------
TEST_F(XMLReaderTest, InvalidInertialOrientation) {
static constexpr char xml[] = R"(
<mujoco>