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Add frame element to MJCF.

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PiperOrigin-RevId: 585598244
Change-Id: I4c06be3dd586dab5a4458f05faaf1e7f2b615458
This commit is contained in:
Alessio Quaglino
2023-11-27 03:31:25 -08:00
committed by Copybara-Service
parent 8010aad7be
commit eb9568a48b
13 changed files with 411 additions and 17 deletions
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test/user/user_objects_test.cc
+74
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@@ -1398,5 +1398,79 @@ TEST_F(SpringrangeTest, InvalidRange) {
EXPECT_THAT(error.data(), HasSubstr("invalid springlength in tendon"));
}
// ------------- test frame ----------------------------------------------------
TEST_F(MujocoTest, Frame) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<frame euler="0 0 30">
<geom size=".1" euler="0 0 20"/>
</frame>
<frame axisangle="0 0 1 90">
<frame axisangle="0 1 0 90">
<geom size=".1"/>
</frame>
</frame>
<body>
<frame pos="0 1 0">
<geom size=".1" pos="0 1 0"/>
<body pos="1 0 0">
<geom size=".1" pos="0 0 1"/>
</body>
</frame>
</body>
<body>
<geom size=".1"/>
<frame euler="90 0 0">
<joint type="hinge" axis="0 0 1"/>
</frame>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, testing::NotNull()) << error.data();
EXPECT_EQ(m->nbody, 4);
// geom quat transformed to euler = 0 0 50
EXPECT_NEAR(m->geom_quat[0], mju_cos(25. * mjPI / 180.), 1e-3);
EXPECT_NEAR(m->geom_quat[1], 0, 0);
EXPECT_NEAR(m->geom_quat[2], 0, 0);
EXPECT_NEAR(m->geom_quat[3], mju_sin(25. * mjPI / 180.), 1e-3);
// geom transformed to frame 0 1 0, 0 0 1, 1 0 0
EXPECT_NEAR(m->geom_quat[4], .5, 1e-6);
EXPECT_NEAR(m->geom_quat[5], .5, 1e-6);
EXPECT_NEAR(m->geom_quat[6], .5, 1e-6);
EXPECT_NEAR(m->geom_quat[7], .5, 1e-6);
// geom pos transformed from 0 1 0 to 0 2 0
EXPECT_EQ(m->geom_pos[6], 0);
EXPECT_EQ(m->geom_pos[7], 2);
EXPECT_EQ(m->geom_pos[8], 0);
// body pos transformed from 1 0 0 to 1 1 0
EXPECT_EQ(m->body_pos[6], 1);
EXPECT_EQ(m->body_pos[7], 1);
EXPECT_EQ(m->body_pos[8], 0);
// nested geom pos not transformed
EXPECT_EQ(m->geom_pos[ 9], 0);
EXPECT_EQ(m->geom_pos[10], 0);
EXPECT_EQ(m->geom_pos[11], 1);
// joint axis transformed to 0 -1 0
EXPECT_NEAR(m->jnt_axis[0], 0, 1e-6);
EXPECT_NEAR(m->jnt_axis[1], -1, 1e-6);
EXPECT_NEAR(m->jnt_axis[2], 0, 1e-6);
mj_deleteModel(m);
}
} // namespace
} // namespace mujoco