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Allow parent targeting for cameras and lights.

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PiperOrigin-RevId: 628002614
Change-Id: I047dd3d62cfbc6432a3ec53fe6465afc52ca615b
This commit is contained in:
Yuval Tassa
2024-04-25 02:09:32 -07:00
committed by Copybara-Service
parent e9709900b4
commit cbb048ff00
2 changed files with 46 additions and 10 deletions
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src/user/user_objects.cc
-10
View File
@@ -2647,11 +2647,6 @@ void mjCCamera::Compile(void) {
}
}
// make sure it is not targeting parent body
if (targetbodyid==body->id) {
throw mjCError(this, "parent-targeting in camera '%s' (id = %d)", name.c_str(), id);
}
// make sure the image size is finite
if (fovy >= 180) {
throw mjCError(this, "fovy too large in camera '%s' (id = %d, value = %d)",
@@ -2791,11 +2786,6 @@ void mjCLight::Compile(void) {
throw mjCError(this, "unknown target body in light '%s' (id = %d)", name.c_str(), id);
}
}
// make sure it is not self-targeting
if (targetbodyid==body->id) {
throw mjCError(this, "parent-targeting in light '%s' (id = %d)", name.c_str(), id);
}
}
test/user/user_objects_test.cc
+46
View File
@@ -864,6 +864,52 @@ TEST_F(CameraSpecTest, FovyFromResolutionPixel) {
mj_deleteModel(m);
}
TEST_F(CameraSpecTest, ParentTargetingNull) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<geom size="1"/>
<camera mode="targetbody" target="world"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, NotNull()) << error.data();
mjData* data = mj_makeData(model);
mj_forward(model, data);
// orientation can't be decided so we get an arbitrary but valid xmat
// (camera pointed towards the negative x-axis)
EXPECT_THAT(AsVector(data->cam_xmat, 9),
ElementsAre(0, 0, 1,
1, 0, 0,
0, 1, 0));
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(CameraSpecTest, ParentTargeting) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<geom size="1"/>
<camera pos="1 1 0" mode="targetbody" target="world"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, NotNull()) << error.data();
mjData* data = mj_makeData(model);
mj_forward(model, data);
// expect negative z-axis to point from camera to world
EXPECT_FLOAT_EQ(data->cam_xmat[2], mju_sqrt(0.5));
EXPECT_FLOAT_EQ(data->cam_xmat[5], mju_sqrt(0.5));
EXPECT_FLOAT_EQ(data->cam_xmat[8], 0);
mj_deleteData(data);
mj_deleteModel(model);
}
// ------------- test actuator order -------------------------------------------
using ActuatorTest = MujocoTest;