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Add contact frame visualisation.

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This is useful when writing or modifying collision functions, when the actual direction of the x and y axes of a contact can be important.

PiperOrigin-RevId: 437256700
Change-Id: I5eab737fc98018399e151552778c6109088bf614
This commit is contained in:
Yuval Tassa
2022-03-25 08:44:40 -07:00
committed by Saran Tunyasuvunakool
parent 21338e6178
commit d627374545
4 changed files with 71 additions and 67 deletions
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include/mjvisualize.h
+1
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@@ -88,6 +88,7 @@ typedef enum mjtFrame_ { // frame visualization
mjFRAME_SITE, // site frames mjFRAME_SITE, // site frames
mjFRAME_CAMERA, // camera frames mjFRAME_CAMERA, // camera frames
mjFRAME_LIGHT, // light frames mjFRAME_LIGHT, // light frames
mjFRAME_CONTACT, // contact frames
mjFRAME_WORLD, // world frame mjFRAME_WORLD, // world frame
mjNFRAME // number of visualization frames mjNFRAME // number of visualization frames
introspect/enums.py
+3 -2
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@@ -569,8 +569,9 @@ ENUMS: Mapping[str, EnumDecl] = dict([
('mjFRAME_SITE', 3), ('mjFRAME_SITE', 3),
('mjFRAME_CAMERA', 4), ('mjFRAME_CAMERA', 4),
('mjFRAME_LIGHT', 5), ('mjFRAME_LIGHT', 5),
('mjFRAME_WORLD', 6), ('mjFRAME_CONTACT', 6),
('mjNFRAME', 7), ('mjFRAME_WORLD', 7),
('mjNFRAME', 8),
]), ]),
)), )),
('mjtVisFlag', ('mjtVisFlag',
python/mujoco/bindings_test.py
+66 -64
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@@ -665,7 +665,7 @@ Euler integrator, semi-implicit in velocity.
def test_enum_as_index(self): def test_enum_as_index(self):
x = ['a', 'b', 'c', 'd', 'e', 'f', 'g', 'h', 'i', 'j', 'k'] x = ['a', 'b', 'c', 'd', 'e', 'f', 'g', 'h', 'i', 'j', 'k']
self.assertEqual(x[mujoco.mjtFrame.mjNFRAME], 'h') self.assertEqual(x[mujoco.mjtFrame.mjFRAME_WORLD], 'h')
self.assertEqual( self.assertEqual(
x[mujoco.mjtFrame.mjFRAME_GEOM:mujoco.mjtFrame.mjFRAME_CAMERA], x[mujoco.mjtFrame.mjFRAME_GEOM:mujoco.mjtFrame.mjFRAME_CAMERA],
['c', 'd']) ['c', 'd'])
@@ -673,83 +673,85 @@ Euler integrator, semi-implicit in velocity.
def test_enum_ops(self): def test_enum_ops(self):
# Note: when modifying this test, make sure the enum value is an odd number # Note: when modifying this test, make sure the enum value is an odd number
# so that the division tests are correctly exercised. # so that the division tests are correctly exercised.
self.assertEqual(mujoco.mjtFrame.mjNFRAME, 7) self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD, 7)
self.assertEqual(mujoco.mjtFrame.mjNFRAME, 7.0) self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD, 7.0)
self.assertEqual(7, mujoco.mjtFrame.mjNFRAME) self.assertEqual(7, mujoco.mjtFrame.mjFRAME_WORLD)
self.assertEqual(7.0, mujoco.mjtFrame.mjNFRAME) self.assertEqual(7.0, mujoco.mjtFrame.mjFRAME_WORLD)
self.assertEqual(mujoco.mjtFrame.mjNFRAME, mujoco.mjtFrame.mjNFRAME) self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD,
self.assertNotEqual(mujoco.mjtFrame.mjNFRAME, mujoco.mjtFrame.mjFRAME_NONE) mujoco.mjtFrame.mjFRAME_WORLD)
self.assertNotEqual(mujoco.mjtFrame.mjFRAME_WORLD,
mujoco.mjtFrame.mjFRAME_NONE)
self.assertEqual(-mujoco.mjtFrame.mjNFRAME, -7) self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD, -7)
self.assertIsInstance(-mujoco.mjtFrame.mjNFRAME, int) self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD, int)
self.assertEqual(mujoco.mjtFrame.mjNFRAME + 1, 8) self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD + 1, 8)
self.assertIsInstance(mujoco.mjtFrame.mjNFRAME + 1, int) self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD + 1, int)
self.assertEqual(2 + mujoco.mjtFrame.mjNFRAME, 9) self.assertEqual(2 + mujoco.mjtFrame.mjFRAME_WORLD, 9)
self.assertIsInstance(2 + mujoco.mjtFrame.mjNFRAME, int) self.assertIsInstance(2 + mujoco.mjtFrame.mjFRAME_WORLD, int)
self.assertEqual(mujoco.mjtFrame.mjNFRAME + 1.75, 8.75) self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD + 1.75, 8.75)
self.assertEqual(2.75 + mujoco.mjtFrame.mjNFRAME, 9.75) self.assertEqual(2.75 + mujoco.mjtFrame.mjFRAME_WORLD, 9.75)
self.assertEqual(mujoco.mjtFrame.mjNFRAME - 2, 5) self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD - 2, 5)
self.assertIsInstance(mujoco.mjtFrame.mjNFRAME - 2, int) self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD - 2, int)
self.assertEqual(8 - mujoco.mjtFrame.mjNFRAME, 1) self.assertEqual(8 - mujoco.mjtFrame.mjFRAME_WORLD, 1)
self.assertIsInstance(8 - mujoco.mjtFrame.mjNFRAME, int) self.assertIsInstance(8 - mujoco.mjtFrame.mjFRAME_WORLD, int)
self.assertEqual(mujoco.mjtFrame.mjNFRAME - 2.25, 4.75) self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD - 2.25, 4.75)
self.assertEqual(8.25 - mujoco.mjtFrame.mjNFRAME, 1.25) self.assertEqual(8.25 - mujoco.mjtFrame.mjFRAME_WORLD, 1.25)
self.assertEqual(mujoco.mjtFrame.mjNFRAME * 3, 21) self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD * 3, 21)
self.assertIsInstance(mujoco.mjtFrame.mjNFRAME * 3, int) self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD * 3, int)
self.assertEqual(3 * mujoco.mjtFrame.mjNFRAME, 21) self.assertEqual(3 * mujoco.mjtFrame.mjFRAME_WORLD, 21)
self.assertIsInstance(3 * mujoco.mjtFrame.mjNFRAME, int) self.assertIsInstance(3 * mujoco.mjtFrame.mjFRAME_WORLD, int)
self.assertEqual(mujoco.mjtFrame.mjNFRAME * 3.5, 24.5) self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD * 3.5, 24.5)
self.assertEqual(3.5 * mujoco.mjtFrame.mjNFRAME, 24.5) self.assertEqual(3.5 * mujoco.mjtFrame.mjFRAME_WORLD, 24.5)
self.assertEqual(mujoco.mjtFrame.mjNFRAME / 2, 3.5) self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD / 2, 3.5)
self.assertEqual(17.5 / mujoco.mjtFrame.mjNFRAME, 2.5) self.assertEqual(17.5 / mujoco.mjtFrame.mjFRAME_WORLD, 2.5)
self.assertEqual(mujoco.mjtFrame.mjNFRAME // 2, 3) self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD // 2, 3)
self.assertIsInstance(mujoco.mjtFrame.mjNFRAME // 2, int) self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD // 2, int)
self.assertEqual(-mujoco.mjtFrame.mjNFRAME // 2, -4) self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD // 2, -4)
self.assertIsInstance(-mujoco.mjtFrame.mjNFRAME // 2, int) self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD // 2, int)
self.assertEqual(20 // mujoco.mjtFrame.mjNFRAME, 2) self.assertEqual(20 // mujoco.mjtFrame.mjFRAME_WORLD, 2)
self.assertIsInstance(20 // mujoco.mjtFrame.mjNFRAME, int) self.assertIsInstance(20 // mujoco.mjtFrame.mjFRAME_WORLD, int)
self.assertEqual(-20 // mujoco.mjtFrame.mjNFRAME, -3) self.assertEqual(-20 // mujoco.mjtFrame.mjFRAME_WORLD, -3)
self.assertIsInstance(-20 // mujoco.mjtFrame.mjNFRAME, int) self.assertIsInstance(-20 // mujoco.mjtFrame.mjFRAME_WORLD, int)
self.assertEqual(mujoco.mjtFrame.mjNFRAME // 2.0, 3) self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD // 2.0, 3)
self.assertIsInstance(mujoco.mjtFrame.mjNFRAME // 2.0, float) self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD // 2.0, float)
self.assertEqual(-mujoco.mjtFrame.mjNFRAME // 2.0, -4) self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD // 2.0, -4)
self.assertIsInstance(-mujoco.mjtFrame.mjNFRAME // 2.0, float) self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD // 2.0, float)
self.assertEqual(20.0 // mujoco.mjtFrame.mjNFRAME, 2) self.assertEqual(20.0 // mujoco.mjtFrame.mjFRAME_WORLD, 2)
self.assertIsInstance(20.0 // mujoco.mjtFrame.mjNFRAME, float) self.assertIsInstance(20.0 // mujoco.mjtFrame.mjFRAME_WORLD, float)
self.assertEqual(-20 // mujoco.mjtFrame.mjNFRAME, -3) self.assertEqual(-20 // mujoco.mjtFrame.mjFRAME_WORLD, -3)
self.assertIsInstance(-20.0 // mujoco.mjtFrame.mjNFRAME, float) self.assertIsInstance(-20.0 // mujoco.mjtFrame.mjFRAME_WORLD, float)
self.assertEqual(mujoco.mjtFrame.mjNFRAME % 4, 3) self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD % 4, 3)
self.assertIsInstance(mujoco.mjtFrame.mjNFRAME % 4, int) self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD % 4, int)
self.assertEqual(-mujoco.mjtFrame.mjNFRAME % -4, -3) self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD % -4, -3)
self.assertIsInstance(-mujoco.mjtFrame.mjNFRAME % -4, int) self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD % -4, int)
self.assertEqual(-mujoco.mjtFrame.mjNFRAME % 4, 1) self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD % 4, 1)
self.assertIsInstance(-mujoco.mjtFrame.mjNFRAME % 4, int) self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD % 4, int)
self.assertEqual(mujoco.mjtFrame.mjNFRAME % -4, -1) self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD % -4, -1)
self.assertIsInstance(mujoco.mjtFrame.mjNFRAME % -4, int) self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD % -4, int)
self.assertEqual(9 % mujoco.mjtFrame.mjNFRAME, 2) self.assertEqual(9 % mujoco.mjtFrame.mjFRAME_WORLD, 2)
self.assertIsInstance(9 % mujoco.mjtFrame.mjNFRAME, int) self.assertIsInstance(9 % mujoco.mjtFrame.mjFRAME_WORLD, int)
self.assertEqual(-9 % -mujoco.mjtFrame.mjNFRAME, -2) self.assertEqual(-9 % -mujoco.mjtFrame.mjFRAME_WORLD, -2)
self.assertIsInstance(-9 % -mujoco.mjtFrame.mjNFRAME, int) self.assertIsInstance(-9 % -mujoco.mjtFrame.mjFRAME_WORLD, int)
self.assertEqual(-9 % mujoco.mjtFrame.mjNFRAME, 5) self.assertEqual(-9 % mujoco.mjtFrame.mjFRAME_WORLD, 5)
self.assertIsInstance(-9 % mujoco.mjtFrame.mjNFRAME, int) self.assertIsInstance(-9 % mujoco.mjtFrame.mjFRAME_WORLD, int)
self.assertEqual(9 % -mujoco.mjtFrame.mjNFRAME, -5) self.assertEqual(9 % -mujoco.mjtFrame.mjFRAME_WORLD, -5)
self.assertIsInstance(9 % -mujoco.mjtFrame.mjNFRAME, int) self.assertIsInstance(9 % -mujoco.mjtFrame.mjFRAME_WORLD, int)
with self.assertRaises(ZeroDivisionError): with self.assertRaises(ZeroDivisionError):
_ = mujoco.mjtFrame.mjNFRAME / 0 _ = mujoco.mjtFrame.mjFRAME_WORLD / 0
with self.assertRaises(ZeroDivisionError): with self.assertRaises(ZeroDivisionError):
_ = 1 / mujoco.mjtFrame.mjFRAME_NONE _ = 1 / mujoco.mjtFrame.mjFRAME_NONE
with self.assertRaises(ZeroDivisionError): with self.assertRaises(ZeroDivisionError):
_ = mujoco.mjtFrame.mjNFRAME // 0 _ = mujoco.mjtFrame.mjFRAME_WORLD // 0
with self.assertRaises(ZeroDivisionError): with self.assertRaises(ZeroDivisionError):
_ = 1 // mujoco.mjtFrame.mjFRAME_NONE _ = 1 // mujoco.mjtFrame.mjFRAME_NONE
with self.assertRaises(ZeroDivisionError): with self.assertRaises(ZeroDivisionError):
_ = mujoco.mjtFrame.mjNFRAME % 0 _ = mujoco.mjtFrame.mjFRAME_WORLD % 0
with self.assertRaises(ZeroDivisionError): with self.assertRaises(ZeroDivisionError):
_ = 1 % mujoco.mjtFrame.mjFRAME_NONE _ = 1 % mujoco.mjtFrame.mjFRAME_NONE
sample/simulate.cc
+1 -1
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@@ -762,7 +762,7 @@ void makerendering(int oldstate) {
"Frame", "Frame",
2, 2,
&(vopt.frame), &(vopt.frame),
"None\nBody\nGeom\nSite\nCamera\nLight\nWorld" "None\nBody\nGeom\nSite\nCamera\nLight\nContact\nWorld"
}, },
{ {
mjITEM_BUTTON, mjITEM_BUTTON,