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Improve URDF geom name loading API.

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PiperOrigin-RevId: 505112774
Change-Id: I866e58e664089256a41908dddab9ad79745fb1da
This commit is contained in:
DeepMind
2023-01-27 07:28:54 -08:00
committed by Copybara-Service
parent c741dfce7d
commit 929e09f84a
8 changed files with 77 additions and 23 deletions
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test/xml/xml_urdf_test.cc
+46 -3
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@@ -49,11 +49,11 @@ TEST_F(MujocoTest, ReadsCapsule) {
mj_deleteModel(model);
}
TEST_F(MujocoTest, ReadsGeomNamesWithCompilerOption) {
TEST_F(MujocoTest, ReadsGeomNames) {
static constexpr char urdf[] = R"(
<robot name="">
<mujoco>
<compiler geomnamesfromurdf="true" discardvisual="false"/>
<compiler discardvisual="false"/>
</mujoco>
<link name="torso">
@@ -88,7 +88,7 @@ TEST_F(MujocoTest, ReadsGeomNamesWithCompilerOption) {
mj_deleteModel(model);
}
TEST_F(MujocoTest, CanLoadUrdfWithNonUniqueNamesByDefault) {
TEST_F(MujocoTest, CanLoadUrdfWithNonUniqueNamesCollisionBeforeVisual) {
static constexpr char urdf[] = R"(
<robot name="">
<mujoco>
@@ -114,6 +114,49 @@ TEST_F(MujocoTest, CanLoadUrdfWithNonUniqueNamesByDefault) {
std::array<char, 1000> error;
mjModel* model = LoadModelFromString(urdf, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
// Check the collision geom gets its name from the URDF. The visual sphere
// should not have a name to avoid duplicates.
int collision_box_id = mj_name2id(model, mjtObj::mjOBJ_GEOM, "shared_name");
ASSERT_GE(collision_box_id, 0);
EXPECT_EQ(model->geom_type[collision_box_id], mjtGeom::mjGEOM_BOX);
mj_deleteModel(model);
}
TEST_F(MujocoTest, CanLoadUrdfWithNonUniqueNamesVisualBeforeCollision) {
static constexpr char urdf[] = R"(
<robot name="">
<mujoco>
<compiler discardvisual="false"/>
</mujoco>
<link name="torso">
<visual name="shared_name">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.5"/>
</geometry>
</visual>
<collision name="shared_name">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.1 0.2 0.3"/>
</geometry>
</collision>
</link>
</robot>
)";
std::array<char, 1000> error;
mjModel* model = LoadModelFromString(urdf, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
// Check the visual geom gets its name from the URDF. The collision geom
// should not have a name to avoid duplicates.
int visual_sphere_id = mj_name2id(model, mjtObj::mjOBJ_GEOM, "shared_name");
ASSERT_GE(visual_sphere_id, 0);
EXPECT_EQ(model->geom_type[visual_sphere_id], mjtGeom::mjGEOM_SPHERE);
mj_deleteModel(model);
}