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

Move keyframe resizing from compilation to attach (mjCModel::operator+=).

Browse Source 
This allows to resize parent keyframes also when the child has no keyframes.

PiperOrigin-RevId: 691045299
Change-Id: I3ab6509b13b5754e937ec77daf9efe697cabf1bc
This commit is contained in:
Alessio Quaglino
2024-10-29 09:16:54 -07:00
committed by Copybara-Service
parent e889cffe23
commit b941e994d9
3 changed files with 96 additions and 35 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/user/user_api_test.cc
+74 -11
View File
@@ -1489,7 +1489,7 @@ TEST_F(MujocoTest, AttachMocap) {
<body pos="1 1 1" quat="0 1 0 0" name="mocap" mocap="true"/>
</worldbody>
<keyframe>
<key name="key" time="1" mpos="2 2 2" mquat="1 0 0 0"/>
<key name="key" time="1" mpos="2 2 2" mquat="0 0 0 1"/>
</keyframe>
</mujoco>)";
@@ -1497,11 +1497,11 @@ TEST_F(MujocoTest, AttachMocap) {
<mujoco>
<worldbody>
<body pos="1 1 1" quat="0 1 0 0" name="mocap" mocap="true"/>
<body pos="3 3 3" quat="0 0 1 0" name="attached-mocap-1" mocap="true"/>
<body pos="1 1 1" quat="0 1 0 0" name="attached-mocap-1" mocap="true"/>
</worldbody>
<keyframe>
<key name="key" time="1" mpos="2 2 2 3 3 3" mquat="1 0 0 0 0 0 1 0"/>
<key name="attached-key-1" time="1" mpos="1 1 1 2 2 2" mquat="0 1 0 0 1 0 0 0"/>
<key name="key" time="1" mpos="2 2 2 1 1 1" mquat="0 0 0 1 0 1 0 0"/>
<key name="attached-key-1" time="1" mpos="1 1 1 2 2 2" mquat="0 1 0 0 0 0 0 1"/>
</keyframe>
</mujoco>)";
@@ -1519,13 +1519,6 @@ TEST_F(MujocoTest, AttachMocap) {
mjsBody* attached_body = mjs_findBody(spec, "attached-mocap-1");
EXPECT_THAT(attached_body, NotNull());
attached_body->pos[0] = 3;
attached_body->pos[1] = 3;
attached_body->pos[2] = 3;
attached_body->quat[0] = 0;
attached_body->quat[1] = 0;
attached_body->quat[2] = 1;
attached_body->quat[3] = 0;
mjModel* model = mj_compile(spec, 0);
EXPECT_THAT(model, NotNull());
@@ -1839,6 +1832,76 @@ TEST_F(MujocoTest, RepeatedAttachKeyframe) {
mj_deleteModel(model_2);
}
TEST_F(MujocoTest, ResizeParentKeyframe) {
static constexpr char xml_parent[] = R"(
<mujoco model="MuJoCo Model">
<worldbody>
<frame name="frame"/>
<body name="body">
<joint/>
<geom size="0.1"/>
</body>
</worldbody>
<keyframe>
<key name="home" qpos="1"/>
</keyframe>
</mujoco>)";
static constexpr char xml_child[] = R"(
<mujoco model="MuJoCo Model">
<worldbody>
<body name="body">
<joint/>
<geom size="0.1"/>
</body>
</worldbody>
</mujoco>)";
static constexpr char xml_expected[] = R"(
<mujoco model="MuJoCo Model">
<worldbody>
<body name="body">
<joint/>
<geom size="0.1"/>
</body>
<frame name="frame">
<body name="child-body">
<joint/>
<geom size="0.1"/>
</body>
</frame>
</worldbody>
<keyframe>
<key name="home" qpos="1 0"/>
</keyframe>
</mujoco>)";
std::array<char, 1000> er;
mjSpec* parent = mj_parseXMLString(xml_parent, 0, er.data(), er.size());
EXPECT_THAT(parent, NotNull()) << er.data();
mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
EXPECT_THAT(child, NotNull()) << er.data();
mjs_attachBody(mjs_findFrame(parent, "frame"), mjs_findBody(child, "body"),
"child-", "");
mjModel* model = mj_compile(parent, 0);
EXPECT_THAT(model, NotNull());
mjtNum tol = 0;
std::string field = "";
mjModel* expected = LoadModelFromString(xml_expected, er.data(), er.size());
EXPECT_THAT(expected, NotNull()) << er.data();
EXPECT_LE(CompareModel(model, expected, field), tol)
<< "Expected and attached models are different!\n"
<< "Different field: " << field << '\n';
mj_deleteSpec(parent);
mj_deleteSpec(child);
mj_deleteModel(model);
mj_deleteModel(expected);
}
TEST_F(MujocoTest, DifferentUnitsAllowed) {
mjSpec* child = mj_makeSpec();
child->compiler.degree = 1;