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// |
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// Copyright (c) 2015-2022 CNRS INRIA |
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// |
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#include <iostream> |
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#include "pinocchio/multibody/model.hpp" |
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#include "pinocchio/multibody/data.hpp" |
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#include "pinocchio/multibody/geometry.hpp" |
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#include "pinocchio/algorithm/kinematics.hpp" |
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#include "pinocchio/collision/collision.hpp" |
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#include "pinocchio/algorithm/geometry.hpp" |
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#include "pinocchio/parsers/urdf.hpp" |
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#include "pinocchio/parsers/srdf.hpp" |
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#include <vector> |
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#include <boost/test/unit_test.hpp> |
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using namespace pinocchio; |
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typedef std::map<std::string, pinocchio::SE3> PositionsMap_t; |
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typedef std::map<std::string, pinocchio::SE3> JointPositionsMap_t; |
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typedef std::map<std::string, pinocchio::SE3> GeometryPositionsMap_t; |
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typedef std::map<std::pair<std::string, std::string>, fcl::DistanceResult> PairDistanceMap_t; |
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JointPositionsMap_t |
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fillPinocchioJointPositions(const pinocchio::Model & model, const pinocchio::Data & data); |
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GeometryPositionsMap_t fillPinocchioGeometryPositions( |
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const pinocchio::GeometryModel & geomModel, const pinocchio::GeometryData & geomData); |
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std::vector<std::string> getBodiesList(); |
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BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) |
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BOOST_AUTO_TEST_CASE(test_simple_boxes) |
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{ |
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using namespace pinocchio; |
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Model model; |
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GeometryModel geomModel; |
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Model::JointIndex idx; |
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idx = model.addJoint( |
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model.getJointId("universe"), JointModelPlanar(), SE3::Identity(), "planar1_joint"); |
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model.addJointFrame(idx); |
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model.appendBodyToJoint(idx, Inertia::Random(), SE3::Identity()); |
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model.addBodyFrame("planar1_body", idx, SE3::Identity()); |
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idx = model.addJoint( |
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model.getJointId("universe"), JointModelPlanar(), SE3::Identity(), "planar2_joint"); |
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model.addJointFrame(idx); |
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model.appendBodyToJoint(idx, Inertia::Random(), SE3::Identity()); |
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model.addBodyFrame("planar2_body", idx, SE3::Identity()); |
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std::shared_ptr<fcl::Box> sample(new fcl::Box(1, 1, 1)); |
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Model::FrameIndex body_id_1 = model.getBodyId("planar1_body"); |
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Model::JointIndex joint_parent_1 = model.frames[body_id_1].parentJoint; |
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Model::JointIndex idx_geom1 = geomModel.addGeometryObject(GeometryObject( |
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"ff1_collision_object", joint_parent_1, model.getBodyId("planar1_body"), SE3::Identity(), |
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sample, "", Eigen::Vector3d::Ones())); |
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geomModel.geometryObjects[idx_geom1].parentJoint = model.frames[body_id_1].parentJoint; |
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std::shared_ptr<fcl::Box> sample2(new fcl::Box(1, 1, 1)); |
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Model::FrameIndex body_id_2 = model.getBodyId("planar2_body"); |
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Model::JointIndex joint_parent_2 = model.frames[body_id_2].parentJoint; |
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Model::JointIndex idx_geom2 = geomModel.addGeometryObject( |
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GeometryObject( |
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"ff2_collision_object", joint_parent_2, model.getBodyId("planar2_body"), SE3::Identity(), |
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sample2, "", Eigen::Vector3d::Ones()), |
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model); |
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BOOST_CHECK( |
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geomModel.geometryObjects[idx_geom2].parentJoint == model.frames[body_id_2].parentJoint); |
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std::shared_ptr<fcl::Box> universe_body_geometry(new fcl::Box(1, 1, 1)); |
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model.addBodyFrame("universe_body", 0, SE3::Identity()); |
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Model::FrameIndex body_id_3 = model.getBodyId("universe_body"); |
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Model::JointIndex joint_parent_3 = model.frames[body_id_3].parentJoint; |
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SE3 universe_body_placement = SE3::Random(); |
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Model::JointIndex idx_geom3 = geomModel.addGeometryObject( |
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GeometryObject( |
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"universe_collision_object", joint_parent_3, model.getBodyId("universe_body"), |
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universe_body_placement, universe_body_geometry, "", Eigen::Vector3d::Ones()), |
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model); |
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BOOST_CHECK( |
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geomModel.geometryObjects[idx_geom3].parentJoint == model.frames[body_id_3].parentJoint); |
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geomModel.addAllCollisionPairs(); |
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pinocchio::Data data(model); |
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pinocchio::GeometryData geomData(geomModel); |
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BOOST_CHECK(CollisionPair(0, 1) == geomModel.collisionPairs[0]); |
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std::cout << "------ Model ------ " << std::endl; |
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std::cout << model; |
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std::cout << "------ Geom ------ " << std::endl; |
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std::cout << geomModel; |
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std::cout << "------ DataGeom ------ " << std::endl; |
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std::cout << geomData; |
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Eigen::VectorXd q(model.nq); |
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q << 0, 0, 1, 0, 0, 0, 1, 0; |
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pinocchio::updateGeometryPlacements(model, data, geomModel, geomData, q); |
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BOOST_CHECK(geomData.oMg[idx_geom3].isApprox(universe_body_placement)); |
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BOOST_CHECK(computeCollision(geomModel, geomData, 0) == true); |
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q << 2, 0, 1, 0, 0, 0, 1, 0; |
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pinocchio::updateGeometryPlacements(model, data, geomModel, geomData, q); |
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BOOST_CHECK(computeCollision(geomModel, geomData, 0) == false); |
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q << 0.99, 0, 1, 0, 0, 0, 1, 0; |
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pinocchio::updateGeometryPlacements(model, data, geomModel, geomData, q); |
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BOOST_CHECK(computeCollision(geomModel, geomData, 0) == true); |
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q << 1.01, 0, 1, 0, 0, 0, 1, 0; |
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pinocchio::updateGeometryPlacements(model, data, geomModel, geomData, q); |
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BOOST_CHECK(computeCollision(geomModel, geomData, 0) == false); |
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geomModel.removeGeometryObject("ff2_collision_object"); |
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geomData = pinocchio::GeometryData(geomModel); |
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BOOST_CHECK(geomModel.ngeoms == 2); |
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BOOST_CHECK(geomModel.geometryObjects.size() == 2); |
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BOOST_CHECK(geomModel.collisionPairs.size() == 1); |
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BOOST_CHECK( |
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(geomModel.collisionPairs[0].first == 0 && geomModel.collisionPairs[0].second == 1) |
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|| (geomModel.collisionPairs[0].first == 1 && geomModel.collisionPairs[0].second == 0)); |
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BOOST_CHECK(geomData.activeCollisionPairs.size() == 1); |
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BOOST_CHECK(geomData.distanceRequests.size() == 1); |
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BOOST_CHECK(geomData.distanceResults.size() == 1); |
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BOOST_CHECK(geomData.distanceResults.size() == 1); |
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BOOST_CHECK(geomData.collisionResults.size() == 1); |
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} |
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#if defined(PINOCCHIO_WITH_URDFDOM) |
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BOOST_AUTO_TEST_CASE(loading_model_and_check_distance) |
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{ |
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typedef pinocchio::Model Model; |
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typedef pinocchio::GeometryModel GeometryModel; |
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typedef pinocchio::Data Data; |
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typedef pinocchio::GeometryData GeometryData; |
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std::string filename = |
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PINOCCHIO_MODEL_DIR |
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+ std::string("/example-robot-data/robots/romeo_description/urdf/romeo_small.urdf"); |
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std::vector<std::string> packageDirs; |
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std::string meshDir = PINOCCHIO_MODEL_DIR; |
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packageDirs.push_back(meshDir); |
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Model model; |
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pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(), model); |
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GeometryModel geomModel; |
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pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geomModel, packageDirs); |
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geomModel.addAllCollisionPairs(); |
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GeometryModel geomModelOther = |
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pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geomModel, packageDirs); |
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BOOST_CHECK(geomModelOther == geomModel); |
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Data data(model); |
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GeometryData geomData(geomModel); |
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fcl::CollisionResult result; |
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Eigen::VectorXd q(model.nq); |
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q << 0, 0, 0.840252, 0, 0, 0, 1, 0, 0, -0.3490658, 0.6981317, -0.3490658, 0, 0, 0, -0.3490658, |
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0.6981317, -0.3490658, 0, 0, 1.5, 0.6, -0.5, -1.05, -0.4, -0.3, -0.2, 0, 0, 0, 0, 1.5, -0.6, |
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0.5, 1.05, -0.4, -0.3, -0.2; |
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pinocchio::updateGeometryPlacements(model, data, geomModel, geomData, q); |
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pinocchio::Index idx = geomModel.findCollisionPair(CollisionPair(1, 10)); |
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BOOST_CHECK(computeCollision(geomModel, geomData, idx) == false); |
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fcl::DistanceResult distance_res = computeDistance(geomModel, geomData, idx); |
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BOOST_CHECK(distance_res.min_distance > 0.); |
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} |
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BOOST_AUTO_TEST_CASE(test_collisions) |
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{ |
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typedef pinocchio::Model Model; |
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typedef pinocchio::GeometryModel GeometryModel; |
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typedef pinocchio::Data Data; |
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typedef pinocchio::GeometryData GeometryData; |
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const std::string filename = |
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PINOCCHIO_MODEL_DIR |
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+ std::string("/example-robot-data/robots/romeo_description/urdf/romeo_small.urdf"); |
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std::vector<std::string> packageDirs; |
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const std::string meshDir = PINOCCHIO_MODEL_DIR; |
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packageDirs.push_back(meshDir); |
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const std::string srdf_filename = |
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PINOCCHIO_MODEL_DIR |
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+ std::string("/example-robot-data/robots/romeo_description/srdf/romeo.srdf"); |
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Model model; |
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pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(), model); |
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GeometryModel geom_model; |
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pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geom_model, packageDirs); |
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geom_model.addAllCollisionPairs(); |
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pinocchio::srdf::removeCollisionPairs(model, geom_model, srdf_filename, false); |
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Data data(model); |
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GeometryData geom_data(geom_model); |
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pinocchio::srdf::loadReferenceConfigurations(model, srdf_filename, false); |
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Eigen::VectorXd q = model.referenceConfigurations["half_sitting"]; |
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pinocchio::updateGeometryPlacements(model, data, geom_model, geom_data, q); |
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BOOST_CHECK(computeCollisions(geom_model, geom_data) == false); |
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BOOST_CHECK(computeCollisions(geom_model, geom_data, false) == false); |
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for (size_t cp_index = 0; cp_index < geom_model.collisionPairs.size(); ++cp_index) |
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{ |
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const CollisionPair & cp = geom_model.collisionPairs[cp_index]; |
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const GeometryObject & obj1 = geom_model.geometryObjects[cp.first]; |
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const GeometryObject & obj2 = geom_model.geometryObjects[cp.second]; |
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hpp::fcl::CollisionResult other_res; |
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computeCollision(geom_model, geom_data, cp_index); |
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fcl::Transform3f oM1(toFclTransform3f(geom_data.oMg[cp.first])), |
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oM2(toFclTransform3f(geom_data.oMg[cp.second])); |
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fcl::collide( |
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obj1.geometry.get(), oM1, obj2.geometry.get(), oM2, geom_data.collisionRequests[cp_index], |
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other_res); |
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const hpp::fcl::CollisionResult & res = geom_data.collisionResults[cp_index]; |
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BOOST_CHECK(res.isCollision() == other_res.isCollision()); |
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BOOST_CHECK(!res.isCollision()); |
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} |
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// test other signatures |
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{ |
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Data data(model); |
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GeometryData geom_data(geom_model); |
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BOOST_CHECK(computeCollisions(model, data, geom_model, geom_data, q) == false); |
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} |
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} |
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BOOST_AUTO_TEST_CASE(test_distances) |
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{ |
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typedef pinocchio::Model Model; |
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typedef pinocchio::GeometryModel GeometryModel; |
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typedef pinocchio::Data Data; |
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typedef pinocchio::GeometryData GeometryData; |
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const std::string filename = |
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PINOCCHIO_MODEL_DIR |
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+ std::string("/example-robot-data/robots/romeo_description/urdf/romeo_small.urdf"); |
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std::vector<std::string> packageDirs; |
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const std::string meshDir = PINOCCHIO_MODEL_DIR; |
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packageDirs.push_back(meshDir); |
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const std::string srdf_filename = |
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PINOCCHIO_MODEL_DIR |
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+ std::string("/example-robot-data/robots/romeo_description/srdf/romeo.srdf"); |
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Model model; |
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pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(), model); |
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GeometryModel geom_model; |
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pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geom_model, packageDirs); |
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geom_model.addAllCollisionPairs(); |
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pinocchio::srdf::removeCollisionPairs(model, geom_model, srdf_filename, false); |
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Data data(model); |
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GeometryData geom_data(geom_model); |
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pinocchio::srdf::loadReferenceConfigurations(model, srdf_filename, false); |
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Eigen::VectorXd q = model.referenceConfigurations["half_sitting"]; |
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pinocchio::updateGeometryPlacements(model, data, geom_model, geom_data, q); |
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BOOST_CHECK(computeDistances(geom_model, geom_data) < geom_model.collisionPairs.size()); |
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{ |
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Data data(model); |
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GeometryData geom_data(geom_model); |
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BOOST_CHECK( |
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computeDistances(model, data, geom_model, geom_data, q) < geom_model.collisionPairs.size()); |
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} |
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} |
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BOOST_AUTO_TEST_CASE(test_append_geom_models) |
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{ |
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typedef pinocchio::Model Model; |
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typedef pinocchio::GeometryModel GeometryModel; |
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const std::string filename = |
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PINOCCHIO_MODEL_DIR |
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+ std::string("/example-robot-data/robots/romeo_description/urdf/romeo_small.urdf"); |
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std::vector<std::string> packageDirs; |
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✗ |
const std::string meshDir = PINOCCHIO_MODEL_DIR; |
| 297 |
|
✗ |
packageDirs.push_back(meshDir); |
| 298 |
|
|
|
| 299 |
|
✗ |
Model model; |
| 300 |
|
✗ |
pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(), model); |
| 301 |
|
✗ |
GeometryModel geom_model1; |
| 302 |
|
✗ |
pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geom_model1, packageDirs); |
| 303 |
|
|
|
| 304 |
|
✗ |
GeometryModel geom_model2; |
| 305 |
|
✗ |
pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geom_model2, packageDirs); |
| 306 |
|
|
|
| 307 |
|
✗ |
appendGeometryModel(geom_model2, geom_model1); |
| 308 |
|
✗ |
BOOST_CHECK(geom_model2.ngeoms == 2 * geom_model1.ngeoms); |
| 309 |
|
|
|
| 310 |
|
|
// Check that collision pairs between geoms on the same joint are discarded. |
| 311 |
|
✗ |
for (pinocchio::Index i = 0; i < geom_model2.collisionPairs.size(); ++i) |
| 312 |
|
|
{ |
| 313 |
|
✗ |
pinocchio::CollisionPair cp = geom_model2.collisionPairs[i]; |
| 314 |
|
✗ |
BOOST_CHECK_NE( |
| 315 |
|
|
geom_model2.geometryObjects[cp.first].parentJoint, |
| 316 |
|
|
geom_model2.geometryObjects[cp.second].parentJoint); |
| 317 |
|
|
} |
| 318 |
|
|
|
| 319 |
|
|
{ |
| 320 |
|
✗ |
GeometryModel geom_model_empty; |
| 321 |
|
✗ |
GeometryModel geom_model; |
| 322 |
|
✗ |
BOOST_CHECK(geom_model_empty.ngeoms == 0); |
| 323 |
|
✗ |
appendGeometryModel(geom_model, geom_model_empty); |
| 324 |
|
✗ |
BOOST_CHECK(geom_model.ngeoms == 0); |
| 325 |
|
|
} |
| 326 |
|
|
} |
| 327 |
|
|
|
| 328 |
|
✗ |
BOOST_AUTO_TEST_CASE(test_compute_body_radius) |
| 329 |
|
|
{ |
| 330 |
|
✗ |
std::vector<std::string> packageDirs; |
| 331 |
|
|
|
| 332 |
|
|
std::string filename = |
| 333 |
|
|
PINOCCHIO_MODEL_DIR |
| 334 |
|
✗ |
+ std::string("/example-robot-data/robots/romeo_description/urdf/romeo_small.urdf"); |
| 335 |
|
✗ |
std::string meshDir = PINOCCHIO_MODEL_DIR; |
| 336 |
|
✗ |
packageDirs.push_back(meshDir); |
| 337 |
|
|
|
| 338 |
|
✗ |
pinocchio::Model model; |
| 339 |
|
✗ |
pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(), model); |
| 340 |
|
✗ |
pinocchio::GeometryModel geom; |
| 341 |
|
✗ |
pinocchio::urdf::buildGeom(model, filename, pinocchio::COLLISION, geom, packageDirs); |
| 342 |
|
✗ |
Data data(model); |
| 343 |
|
✗ |
GeometryData geomData(geom); |
| 344 |
|
|
|
| 345 |
|
|
// Test that the algorithm does not crash |
| 346 |
|
✗ |
pinocchio::computeBodyRadius(model, geom, geomData); |
| 347 |
|
✗ |
BOOST_FOREACH (double radius, geomData.radius) |
| 348 |
|
✗ |
BOOST_CHECK(radius >= 0.); |
| 349 |
|
|
} |
| 350 |
|
|
#endif // if defined(PINOCCHIO_WITH_URDFDOM) |
| 351 |
|
|
|
| 352 |
|
|
BOOST_AUTO_TEST_SUITE_END() |
| 353 |
|
|
|