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Add geom names to URDF parsing in MuJoCo.

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Fixes #566

PiperOrigin-RevId: 500750288
Change-Id: I00f94ee37bb2f15be59df3933d0d4dba583f0921
This commit is contained in:
DeepMind
2023-01-09 10:33:40 -08:00
committed by Copybara-Service
parent 19b6c70e13
commit 703b33c064
6 changed files with 87 additions and 0 deletions
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test/xml/xml_urdf_test.cc
+68
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@@ -49,5 +49,73 @@ TEST_F(MujocoTest, ReadsCapsule) {
mj_deleteModel(model);
}
TEST_F(MujocoTest, ReadsGeomNamesWithCompilerOption) {
static constexpr char urdf[] = R"(
<robot name="">
<mujoco>
<compiler geomnamesfromurdf="true" discardvisual="false"/>
</mujoco>
<link name="torso">
<collision name="collision_box">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.1 0.2 0.3"/>
</geometry>
</collision>
<visual name="visual_sphere">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.5"/>
</geometry>
</visual>
</link>
</robot>
)";
std::array<char, 1000> error;
mjModel* model = LoadModelFromString(urdf, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
// Check the geoms have been loaded with the right names
int collision_box_id = mj_name2id(model, mjtObj::mjOBJ_GEOM, "collision_box");
ASSERT_GE(collision_box_id, 0);
EXPECT_EQ(model->geom_type[collision_box_id], mjtGeom::mjGEOM_BOX);
int visual_sphere_id = mj_name2id(model, mjtObj::mjOBJ_GEOM, "visual_sphere");
ASSERT_GE(visual_sphere_id, 0);
EXPECT_EQ(model->geom_type[visual_sphere_id], mjtGeom::mjGEOM_SPHERE);
mj_deleteModel(model);
}
TEST_F(MujocoTest, CanLoadUrdfWithNonUniqueNamesByDefault) {
static constexpr char urdf[] = R"(
<robot name="">
<mujoco>
<compiler discardvisual="false"/>
</mujoco>
<link name="torso">
<collision name="shared_name">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.1 0.2 0.3"/>
</geometry>
</collision>
<visual name="shared_name">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.5"/>
</geometry>
</visual>
</link>
</robot>
)";
std::array<char, 1000> error;
mjModel* model = LoadModelFromString(urdf, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
mj_deleteModel(model);
}
} // namespace
} // namespace mujoco