//==============================================================================
TEST(SkelParser, JointDynamicsElements)
{
WorldPtr world
= SkelParser::readWorld(
DART_DATA_PATH"/skel/test/joint_dynamics_elements_test.skel");
EXPECT_TRUE(world != nullptr);
SkeletonPtr skel1 = world->getSkeleton("skeleton 1");
Joint* joint0 = skel1->getJoint("joint0");
EXPECT_EQ(joint0->getDampingCoefficient(0), 1.0);
EXPECT_EQ(joint0->getCoulombFriction (0), 5.0);
EXPECT_EQ(joint0->getRestPosition (0), 0.1);
EXPECT_EQ(joint0->getSpringStiffness (0), 3.0);
Joint* joint1 = skel1->getJoint("joint1");
EXPECT_EQ(joint1->getDampingCoefficient(0), 1.0);
EXPECT_EQ(joint1->getCoulombFriction (0), 5.0);
EXPECT_EQ(joint1->getRestPosition (0), 0.1);
EXPECT_EQ(joint1->getSpringStiffness (0), 3.0);
EXPECT_EQ(joint1->getDampingCoefficient(1), 2.0);
EXPECT_EQ(joint1->getCoulombFriction (1), 4.0);
EXPECT_EQ(joint1->getRestPosition (1), 0.2);
EXPECT_EQ(joint1->getSpringStiffness (1), 2.0);
EXPECT_EQ(joint1->getDampingCoefficient(2), 3.0);
EXPECT_EQ(joint1->getCoulombFriction (2), 3.0);
EXPECT_EQ(joint1->getRestPosition (2), 0.3);
EXPECT_EQ(joint1->getSpringStiffness (2), 1.0);
}
//==============================================================================
TEST(SKEL_PARSER, JointActuatorType)
{
WorldPtr world = SkelParser::readWorld(
DART_DATA_PATH"/skel/test/joint_actuator_type_test.skel");
EXPECT_TRUE(world != nullptr);
SkeletonPtr skel1 = world->getSkeleton("skeleton 1");
EXPECT_TRUE(skel1 != nullptr);
// Test for no actuator type attribute being specified
Joint* joint0 = skel1->getJoint("joint0");
EXPECT_EQ(joint0->getActuatorType(), Joint::DefaultActuatorType);
EXPECT_EQ(joint0->getActuatorType(), Joint::FORCE);
// Test for when actuator type attribute are specified
Joint* joint1 = skel1->getJoint("joint1");
EXPECT_EQ(joint1->getActuatorType(), Joint::FORCE);
// Test for only a dof name being changed
Joint* joint2 = skel1->getJoint("joint2");
EXPECT_EQ(joint2->getActuatorType(), Joint::PASSIVE);
joint2->setActuatorType(Joint::FORCE);
EXPECT_EQ(joint2->getActuatorType(), Joint::FORCE);
// Test for when actuator type attribute are specified
Joint* joint3 = skel1->getJoint("joint3");
EXPECT_EQ(joint3->getActuatorType(), Joint::ACCELERATION);
// Test for when actuator type attribute are specified
Joint* joint4 = skel1->getJoint("joint4");
EXPECT_EQ(joint4->getActuatorType(), Joint::VELOCITY);}
SimulationWorld(WorldPtr world, const std::vector<Eigen::VectorXd>& trajectory)
: osgDart::WorldNode(world), mTrajectory(trajectory)
{
mHubo = world->getSkeleton("drchubo");
double height = mHubo->getPosition(5);
mHubo->setPositions(mTrajectory[0]);
mHubo->setPosition(5, height);
// index = 0;
}
// Load a biped model and enable joint limits and self-collision
SkeletonPtr loadBiped()
{
// Lesson 1
// Create the world with a skeleton
WorldPtr world = SkelParser::readWorld("dart://sample/skel/biped.skel");
assert(world != nullptr);
SkeletonPtr biped = world->getSkeleton("biped");
return biped;
}
// Load a skateboard model and connect it to the biped model via an Euler joint
// (Lesson 5 Answer)
void modifyBipedWithSkateboard(SkeletonPtr biped)
{
// Load the Skeleton from a file
WorldPtr world = SkelParser::readWorld("dart://sample/skel/skateboard.skel");
SkeletonPtr skateboard = world->getSkeleton(0);
EulerJoint::Properties properties = EulerJoint::Properties();
properties.mT_ChildBodyToJoint.translation() = Eigen::Vector3d(0, 0.1, 0);
skateboard->getRootBodyNode()->moveTo<EulerJoint>
(biped->getBodyNode("h_heel_left"), properties);
}
// Load a biped model and enable joint limits and self-collision
// (Lesson 1 Answer)
SkeletonPtr loadBiped()
{
// Create the world with a skeleton
WorldPtr world = SkelParser::readWorld(DART_DATA_PATH"skel/biped.skel");
assert(world != nullptr);
SkeletonPtr biped = world->getSkeleton("biped");
// Set joint limits
for(size_t i = 0; i < biped->getNumJoints(); ++i)
biped->getJoint(i)->setPositionLimitEnforced(true);
// Enable self collision check but ignore adjacent bodies
biped->enableSelfCollision();
return biped;
}
//==============================================================================
TEST(SkelParser, SerialChain)
{
WorldPtr world = SkelParser::readWorld(
DART_DATA_PATH"skel/test/serial_chain_ball_joint.skel");
EXPECT_TRUE(world != nullptr);
EXPECT_EQ(world->getTimeStep(), 0.001);
EXPECT_EQ(world->getGravity()(0), 0);
EXPECT_EQ(world->getGravity()(1), -9.81);
EXPECT_EQ(world->getGravity()(2), 0);
EXPECT_EQ(static_cast<int>(world->getNumSkeletons()), 1);
SkeletonPtr skel1 = world->getSkeleton("skeleton 1");
EXPECT_EQ(static_cast<int>(skel1->getNumBodyNodes()), 10);
world->step();
}
//==============================================================================
TEST(SkelParser, SinglePendulum)
{
WorldPtr world = SkelParser::readWorld(
DART_DATA_PATH"skel/test/single_pendulum.skel");
EXPECT_TRUE(world != nullptr);
EXPECT_EQ(world->getTimeStep(), 0.001);
EXPECT_EQ(world->getGravity()(0), 0);
EXPECT_EQ(world->getGravity()(1), -9.81);
EXPECT_EQ(world->getGravity()(2), 0);
EXPECT_EQ(static_cast<int>(world->getNumSkeletons()), 1);
SkeletonPtr skel1 = world->getSkeleton("single_pendulum");
EXPECT_EQ(static_cast<int>(skel1->getNumBodyNodes()), 1);
world->step();
}
std::vector<SkeletonPtr> getSkeletons()
{
std::vector<std::string> fileList = getFileList();
std::vector<WorldPtr> worlds;
for(size_t i=0; i<fileList.size(); ++i)
worlds.push_back(utils::SkelParser::readWorld(fileList[i]));
std::vector<SkeletonPtr> skeletons;
for(size_t i=0; i<worlds.size(); ++i)
{
WorldPtr world = worlds[i];
for(size_t j=0; j<world->getNumSkeletons(); ++j)
skeletons.push_back(world->getSkeleton(j));
}
return skeletons;
}
/// Constructor
MyWindow(WorldPtr world)
: mBallConstraint(nullptr),
mPositiveSign(true),
mBodyForce(false)
{
setWorld(world);
// Find the Skeleton named "pendulum" within the World
mPendulum = world->getSkeleton("pendulum");
// Make sure that the pendulum was found in the World
assert(mPendulum != nullptr);
mForceCountDown.resize(mPendulum->getNumDofs(), 0);
ArrowShape::Properties arrow_properties;
arrow_properties.mRadius = 0.05;
mArrow = std::shared_ptr<ArrowShape>(new ArrowShape(
Eigen::Vector3d(-default_height, 0.0, default_height / 2.0),
Eigen::Vector3d(-default_width / 2.0, 0.0, default_height / 2.0),
arrow_properties, dart::Color::Orange(1.0)));
}
//==============================================================================
TEST(SdfParser, SDFSingleBodyWithoutJoint)
{
// Regression test for #444
WorldPtr world
= SdfParser::readSdfFile(
DART_DATA_PATH"/sdf/test/single_bodynode_skeleton.world");
EXPECT_TRUE(world != nullptr);
SkeletonPtr skel = world->getSkeleton(0);
EXPECT_TRUE(skel != nullptr);
EXPECT_EQ(skel->getNumBodyNodes(), 1u);
EXPECT_EQ(skel->getNumJoints(), 1u);
BodyNodePtr bodyNode = skel->getBodyNode(0);
EXPECT_TRUE(bodyNode != nullptr);
EXPECT_EQ(bodyNode->getNumVisualizationShapes(), 1u);
EXPECT_EQ(bodyNode->getNumCollisionShapes(), 1u);
JointPtr joint = skel->getJoint(0);
EXPECT_TRUE(joint != nullptr);
EXPECT_EQ(joint->getType(), FreeJoint::getStaticType());
}
//==============================================================================
TEST(SkelParser, RigidAndSoftBodies)
{
using namespace dart;
using namespace math;
using namespace dynamics;
using namespace simulation;
using namespace utils;
WorldPtr world = SkelParser::readWorld(
DART_DATA_PATH"skel/test/test_articulated_bodies.skel");
EXPECT_TRUE(world != nullptr);
SkeletonPtr skel1 = world->getSkeleton("skeleton 1");
EXPECT_TRUE(skel1 != nullptr);
EXPECT_EQ(static_cast<int>(skel1->getNumBodyNodes()), 2);
EXPECT_EQ(static_cast<int>(skel1->getNumRigidBodyNodes()), 1);
EXPECT_EQ(static_cast<int>(skel1->getNumSoftBodyNodes()), 1);
SoftBodyNode* sbn = skel1->getSoftBodyNode(0);
EXPECT_TRUE(static_cast<int>(sbn->getNumPointMasses()) > 0);
world->step();
}
//==============================================================================
TEST(SkelParser, DofAttributes)
{
WorldPtr world = SkelParser::readWorld(
DART_DATA_PATH"/skel/test/dof_attribute_test.skel");
EXPECT_TRUE(world != nullptr);
SkeletonPtr skel1 = world->getSkeleton("skeleton 1");
// Test for no dof elements being specified
Joint* joint0 = skel1->getJoint("joint0");
EXPECT_EQ(joint0->getDof(0)->getPositionLowerLimit(), -DART_DBL_INF);
EXPECT_EQ(joint0->getDof(0)->getPositionUpperLimit(), DART_DBL_INF);
EXPECT_EQ(joint0->getDof(0)->getPosition(), 0);
EXPECT_EQ(joint0->getDof(0)->getVelocityLowerLimit(), -DART_DBL_INF);
EXPECT_EQ(joint0->getDof(0)->getVelocityUpperLimit(), DART_DBL_INF);
EXPECT_EQ(joint0->getDof(0)->getVelocity(), 0);
EXPECT_EQ(joint0->getDof(0)->getName(), joint0->getName());
// Test for only a dof name being changed
Joint* joint1 = skel1->getJoint("joint1");
EXPECT_EQ(joint1->getDof(0)->getPositionLowerLimit(), -1.57);
EXPECT_EQ(joint1->getDof(0)->getPositionUpperLimit(), 1.57);
EXPECT_EQ(joint1->getDof(0)->getName(), "customJoint1");
// Test for when dof attributes (but not a name) are specified
Joint* joint2 = skel1->getJoint("joint2");
EXPECT_EQ(joint2->getDof(0)->getName(), joint2->getName());
EXPECT_EQ(joint2->getDof(0)->getPositionLowerLimit(), -1);
EXPECT_EQ(joint2->getDof(0)->getPositionUpperLimit(), 1);
EXPECT_EQ(joint2->getDof(0)->getPosition(), 0);
EXPECT_EQ(joint2->getDof(0)->getVelocityLowerLimit(), -2);
EXPECT_EQ(joint2->getDof(0)->getVelocityUpperLimit(), 2);
EXPECT_EQ(joint2->getDof(0)->getVelocity(), 0);
EXPECT_EQ(joint2->getDof(0)->getAccelerationLowerLimit(), -3);
EXPECT_EQ(joint2->getDof(0)->getAccelerationUpperLimit(), 3);
EXPECT_EQ(joint2->getDof(0)->getAcceleration(), 0);
EXPECT_EQ(joint2->getDof(0)->getForceLowerLimit(), -4);
EXPECT_EQ(joint2->getDof(0)->getForceUpperLimit(), 4);
EXPECT_EQ(joint2->getDof(0)->getForce(), 0);
// Test for mixture of old method and new method
// Note: If there is a conflict, the data given in the dof element will win
Joint* joint3 = skel1->getJoint("joint3");
EXPECT_EQ(joint3->getDof(0)->getName(), joint3->getName() + "_1");
EXPECT_EQ(joint3->getDof(0)->getPositionLowerLimit(), -1);
EXPECT_EQ(joint3->getDof(0)->getPositionUpperLimit(), 1);
EXPECT_EQ(joint3->getDof(0)->getPosition(), 5);
EXPECT_EQ(joint3->getDof(1)->getName(), joint3->getName() + "_2");
EXPECT_EQ(joint3->getDof(1)->getPositionLowerLimit(), -2);
EXPECT_EQ(joint3->getDof(1)->getPositionUpperLimit(), 2);
EXPECT_EQ(joint3->getDof(1)->getPosition(), -5);
// Test for only some of the DOFs being specified
Joint* joint4 = skel1->getJoint("joint4");
EXPECT_EQ(joint4->getDof(0)->getName(), "joint4_1");
EXPECT_EQ(joint4->getDof(0)->getPositionLowerLimit(), -1);
EXPECT_EQ(joint4->getDof(0)->getPositionUpperLimit(), 1);
EXPECT_EQ(joint4->getDof(0)->getVelocityLowerLimit(), -10);
EXPECT_EQ(joint4->getDof(0)->getVelocityUpperLimit(), 10);
EXPECT_EQ(joint4->getDof(1)->getName(), joint4->getName() + "_y");
EXPECT_EQ(joint4->getDof(2)->getName(), "joint4_3");
EXPECT_EQ(joint4->getDof(2)->getPositionLowerLimit(), -2);
EXPECT_EQ(joint4->getDof(2)->getPositionUpperLimit(), 2);
EXPECT_EQ(joint4->getDof(2)->getVelocityLowerLimit(), -20);
EXPECT_EQ(joint4->getDof(2)->getVelocityUpperLimit(), 20);
}
//==============================================================================
TEST(SkelParser, PlanarJoint)
{
using namespace dart;
using namespace math;
using namespace dynamics;
using namespace simulation;
using namespace utils;
WorldPtr world = SkelParser::readWorld(
DART_DATA_PATH"skel/test/planar_joint.skel");
EXPECT_TRUE(world != nullptr);
SkeletonPtr skel1 = world->getSkeleton("skeleton1");
EXPECT_TRUE(skel1 != nullptr);
BodyNode* body1 = skel1->getBodyNode("link1");
BodyNode* body2 = skel1->getBodyNode("link2");
BodyNode* body3 = skel1->getBodyNode("link3");
BodyNode* body4 = skel1->getBodyNode("link4");
EXPECT_TRUE(body1 != nullptr);
EXPECT_TRUE(body2 != nullptr);
EXPECT_TRUE(body3 != nullptr);
EXPECT_TRUE(body4 != nullptr);
PlanarJoint* planarJoint1
= dynamic_cast<PlanarJoint*>(body1->getParentJoint());
PlanarJoint* planarJoint2
= dynamic_cast<PlanarJoint*>(body2->getParentJoint());
PlanarJoint* planarJoint3
= dynamic_cast<PlanarJoint*>(body3->getParentJoint());
PlanarJoint* planarJoint4
= dynamic_cast<PlanarJoint*>(body4->getParentJoint());
EXPECT_TRUE(planarJoint1 != nullptr);
EXPECT_TRUE(planarJoint2 != nullptr);
EXPECT_TRUE(planarJoint3 != nullptr);
EXPECT_TRUE(planarJoint4 != nullptr);
EXPECT_EQ(planarJoint1->getPlaneType(), PlanarJoint::PT_XY);
EXPECT_EQ(planarJoint2->getPlaneType(), PlanarJoint::PT_YZ);
EXPECT_EQ(planarJoint3->getPlaneType(), PlanarJoint::PT_ZX);
EXPECT_EQ(planarJoint4->getPlaneType(), PlanarJoint::PT_ARBITRARY);
EXPECT_EQ(planarJoint1->getTranslationalAxis1(), Eigen::Vector3d::UnitX());
EXPECT_EQ(planarJoint2->getTranslationalAxis1(), Eigen::Vector3d::UnitY());
EXPECT_EQ(planarJoint3->getTranslationalAxis1(), Eigen::Vector3d::UnitZ());
EXPECT_EQ(planarJoint4->getTranslationalAxis1(), Eigen::Vector3d::UnitX());
EXPECT_EQ(planarJoint1->getTranslationalAxis2(), Eigen::Vector3d::UnitY());
EXPECT_EQ(planarJoint2->getTranslationalAxis2(), Eigen::Vector3d::UnitZ());
EXPECT_EQ(planarJoint3->getTranslationalAxis2(), Eigen::Vector3d::UnitX());
EXPECT_EQ(planarJoint4->getTranslationalAxis2(), Eigen::Vector3d::UnitY());
EXPECT_EQ(planarJoint1->getRotationalAxis(), Eigen::Vector3d::UnitZ());
EXPECT_EQ(planarJoint2->getRotationalAxis(), Eigen::Vector3d::UnitX());
EXPECT_EQ(planarJoint3->getRotationalAxis(), Eigen::Vector3d::UnitY());
EXPECT_EQ(planarJoint4->getRotationalAxis(), Eigen::Vector3d::UnitZ());
EXPECT_EQ(planarJoint1->getPositions(), Eigen::Vector3d(1, 2, 3));
EXPECT_EQ(planarJoint2->getPositions(), Eigen::Vector3d(1, 2, 3));
EXPECT_EQ(planarJoint3->getPositions(), Eigen::Vector3d(1, 2, 3));
EXPECT_EQ(planarJoint4->getPositions(), Eigen::Vector3d(1, 2, 3));
EXPECT_EQ(planarJoint1->getVelocities(), Eigen::Vector3d(4, 5, 6));
EXPECT_EQ(planarJoint2->getVelocities(), Eigen::Vector3d(4, 5, 6));
EXPECT_EQ(planarJoint3->getVelocities(), Eigen::Vector3d(4, 5, 6));
EXPECT_EQ(planarJoint4->getVelocities(), Eigen::Vector3d(4, 5, 6));
EXPECT_EQ(planarJoint1->getDampingCoefficient(0), 1);
EXPECT_EQ(planarJoint2->getDampingCoefficient(0), 1);
EXPECT_EQ(planarJoint3->getDampingCoefficient(0), 1);
EXPECT_EQ(planarJoint4->getDampingCoefficient(0), 1);
EXPECT_EQ(planarJoint1->getDampingCoefficient(1), 2);
EXPECT_EQ(planarJoint2->getDampingCoefficient(1), 2);
EXPECT_EQ(planarJoint3->getDampingCoefficient(1), 2);
EXPECT_EQ(planarJoint4->getDampingCoefficient(1), 2);
EXPECT_EQ(planarJoint1->getDampingCoefficient(2), 3);
EXPECT_EQ(planarJoint2->getDampingCoefficient(2), 3);
EXPECT_EQ(planarJoint3->getDampingCoefficient(2), 3);
EXPECT_EQ(planarJoint4->getDampingCoefficient(2), 3);
EXPECT_EQ(planarJoint1->getPositionLowerLimit(0), -1.0);
EXPECT_EQ(planarJoint2->getPositionLowerLimit(0), -1.0);
EXPECT_EQ(planarJoint3->getPositionLowerLimit(0), -1.0);
EXPECT_EQ(planarJoint4->getPositionLowerLimit(0), -1.0);
EXPECT_EQ(planarJoint1->getPositionUpperLimit(0), +1.0);
EXPECT_EQ(planarJoint2->getPositionUpperLimit(0), +1.0);
EXPECT_EQ(planarJoint3->getPositionUpperLimit(0), +1.0);
EXPECT_EQ(planarJoint4->getPositionUpperLimit(0), +1.0);
EXPECT_EQ(planarJoint1->getPositionLowerLimit(1), -2.0);
EXPECT_EQ(planarJoint2->getPositionLowerLimit(1), -2.0);
EXPECT_EQ(planarJoint3->getPositionLowerLimit(1), -2.0);
EXPECT_EQ(planarJoint4->getPositionLowerLimit(1), -2.0);
EXPECT_EQ(planarJoint1->getPositionUpperLimit(1), +2.0);
EXPECT_EQ(planarJoint2->getPositionUpperLimit(1), +2.0);
EXPECT_EQ(planarJoint3->getPositionUpperLimit(1), +2.0);
EXPECT_EQ(planarJoint4->getPositionUpperLimit(1), +2.0);
EXPECT_EQ(planarJoint1->getPositionLowerLimit(2), -3.0);
EXPECT_EQ(planarJoint2->getPositionLowerLimit(2), -3.0);
EXPECT_EQ(planarJoint3->getPositionLowerLimit(2), -3.0);
EXPECT_EQ(planarJoint4->getPositionLowerLimit(2), -3.0);
EXPECT_EQ(planarJoint1->getPositionUpperLimit(2), +3.0);
EXPECT_EQ(planarJoint2->getPositionUpperLimit(2), +3.0);
EXPECT_EQ(planarJoint3->getPositionUpperLimit(2), +3.0);
EXPECT_EQ(planarJoint4->getPositionUpperLimit(2), +3.0);
world->step();
}
