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Allow height-field elevation data to be specified in XML.

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PiperOrigin-RevId: 602374498
Change-Id: I2d3364d68876a35799b24aca1051e2f5aebdda75
This commit is contained in:
Yuval Tassa
2024-01-29 06:58:30 -08:00
committed by Copybara-Service
parent e6847f843d
commit e143b3dbc0
16 changed files with 258 additions and 35 deletions
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test/xml/xml_native_reader_test.cc
+82 -4
View File
@@ -36,6 +36,7 @@ using ::testing::HasSubstr;
using ::testing::IsNan;
using ::testing::IsNull;
using ::testing::NotNull;
using ::testing::FloatEq;
using XMLReaderTest = MujocoTest;
@@ -436,7 +437,7 @@ TEST_F(XMLReaderTest, ParseFrame) {
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, testing::NotNull()) << error.data();
EXPECT_THAT(m, NotNull()) << error.data();
mj_deleteModel(m);
}
@@ -455,7 +456,7 @@ TEST_F(XMLReaderTest, CameraInvalidFovyAndSensorsize) {
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, testing::IsNull());
EXPECT_THAT(m, IsNull());
EXPECT_THAT(error.data(), HasSubstr("either 'fovy' or 'sensorsize'"));
}
@@ -472,7 +473,7 @@ TEST_F(XMLReaderTest, CameraPricipalRequiresSensorsize) {
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, testing::IsNull());
EXPECT_THAT(m, IsNull());
EXPECT_THAT(error.data(), HasSubstr("attribute missing: 'sensorsize'"));
}
@@ -489,7 +490,7 @@ TEST_F(XMLReaderTest, CameraSensorsizeRequiresResolution) {
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, testing::IsNull());
EXPECT_THAT(m, IsNull());
EXPECT_THAT(error.data(), HasSubstr("attribute missing: 'resolution'"));
}
@@ -585,6 +586,83 @@ TEST_F(XMLReaderTest, InvalidSkinGroup) {
mj_deleteModel(model);
}
// ------------- test height-field parsing -------------------------------------
using HfieldParsingTest = MujocoTest;
TEST_F(HfieldParsingTest, NoData) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<hfield name="hf" nrow="4" ncol="3" size="0.5 0.5 1 0.1"/>
</asset>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(model->hfield_nrow[0], 4);
EXPECT_EQ(model->hfield_ncol[0], 3);
EXPECT_EQ(model->hfield_size[0], 0.5);
EXPECT_EQ(model->hfield_size[1], 0.5);
EXPECT_EQ(model->hfield_size[2], 1);
EXPECT_EQ(model->hfield_size[3], 0.1);
mj_deleteModel(model);
}
TEST_F(HfieldParsingTest, HasDataBadSize) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<hfield name="hf" nrow="3" ncol="2" size="0.5 0.5 1 0.1"
elevation="1 2
3 4
5 6 7"/>
</asset>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("data length must match nrow*ncol"));
}
TEST_F(HfieldParsingTest, HasData) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<hfield name="hf" nrow="3" ncol="2" size="0.5 0.5 1 0.1"
elevation="1 2
3 4
5 6"/>
</asset>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(model->hfield_nrow[0], 3);
EXPECT_EQ(model->hfield_ncol[0], 2);
EXPECT_EQ(model->hfield_size[0], 0.5);
EXPECT_EQ(model->hfield_size[1], 0.5);
EXPECT_EQ(model->hfield_size[2], 1);
EXPECT_EQ(model->hfield_size[3], 0.1);
// offset (minimum) and scaling (maximum) from normalizing operation
float offset = 1.0;
float scale = 6.0 - offset;
// compare data, note: reverse row order
EXPECT_THAT(model->hfield_data[0], FloatEq((5-offset)/scale));
EXPECT_THAT(model->hfield_data[1], FloatEq((6-offset)/scale));
EXPECT_THAT(model->hfield_data[2], FloatEq((3-offset)/scale));
EXPECT_THAT(model->hfield_data[3], FloatEq((4-offset)/scale));
EXPECT_THAT(model->hfield_data[4], FloatEq((1-offset)/scale));
EXPECT_THAT(model->hfield_data[5], FloatEq((2-offset)/scale));
mj_deleteModel(model);
}
// ------------- test relative frame sensor parsing ----------------------------
using RelativeFrameSensorParsingTest = MujocoTest;