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budzianowski committed Oct 16, 2024
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174 changes: 174 additions & 0 deletions tests/sample/robot.xml
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<mujoco model="robot">
<option iterations="50" timestep="0.001" solver="PGS" gravity="0 0 -9.81" />

<compiler angle="radian" meshdir="meshes" eulerseq="zyx" autolimits="true" />

<default>
<joint limited="true" damping="0.01" armature="0.01" frictionloss="0.01" />
<geom condim="4" contype="1" conaffinity="15" friction="0.9 0.2 0.2" solref="0.001 2" />
<motor ctrllimited="true" />
<equality solref="0.001 2" />
<default class="visualgeom">
<geom material="visualgeom" condim="1" contype="0" conaffinity="0" />
</default>
</default>

<asset>
<mesh name="trunk" file="trunk.stl" scale="0.001 0.001 0.001" />
<mesh name="buttock" file="buttock.stl" scale="0.001 0.001 0.001" />
<mesh name="leg" file="leg.stl" scale="0.001 0.001 0.001" />
<mesh name="mthigh" file="mthigh.stl" scale="0.001 0.001 0.001" />
<mesh name="mcalf" file="mcalf.stl" scale="0.001 0.001 0.001" />
<mesh name="thigh" file="thigh.stl" scale="0.001 0.001 0.001" />
<mesh name="calf" file="calf.stl" scale="0.001 0.001 0.001" />
<mesh name="clav" file="clav.stl" scale="0.001 0.001 0.001" />
<mesh name="scap" file="scap.stl" scale="0.001 0.001 0.001" />
<mesh name="uarm" file="uarm.stl" scale="0.001 0.001 0.001" />
<mesh name="farm" file="farm.stl" scale="0.001 0.001 0.001" />
<texture name="texplane" type="2d" builtin="checker" rgb1=".0 .0 .0" rgb2=".8 .8 .8" width="100" height="100" />
<material name="matplane" reflectance="0." texture="texplane" texrepeat="1 1" texuniform="true" />
<material name="visualgeom" rgba="0.5 0.9 0.2 1" />
</asset>

<worldbody>
<light directional="true" diffuse="0.4 0.4 0.4" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" castshadow="false" />
<light directional="true" diffuse="0.6 0.6 0.6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1" />
<geom name="ground" type="plane" pos="0 0 0" size="100 100 0.001" quat="1 0 0 0" material="matplane" condim="3" conaffinity="15" />
<camera name="fixed" pos="0 -3.0 1.12" xyaxes="1 0 0 0 0 1" />
<camera name="track" mode="trackcom" pos="0 -3.0 1.12" xyaxes="1 0 0 0 0 1" />
<body name="root" pos="0 0 0.63" quat="1 0 0 0">
<freejoint name="root" />
<site name="imu" size="0.01" pos="0 0 0" />
<geom type="mesh" mesh="trunk" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="1 0.5 0.75 1" mesh="trunk" />
<geom pos="0 0.255 0.45" quat="2.67949e-08 -1 0 0" type="mesh" mesh="clav" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="1 0.5 0.75 1" mesh="clav" pos="0 0.255 0.45" quat="2.67949e-08 -1 0 0" />
<geom pos="0 0.255 0.45" type="mesh" mesh="scap" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="1 0.5 0.75 1" mesh="scap" pos="0 0.255 0.45" />
<geom pos="0 0.255 0.45" type="mesh" mesh="uarm" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="1 0.5 0.75 1" mesh="uarm" pos="0 0.255 0.45" />
<geom pos="0 0.255 0.22" type="mesh" mesh="farm" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="1 0.5 0.75 1" mesh="farm" pos="0 0.255 0.22" />
<geom pos="0 -0.255 0.45" quat="1 0 0 0" type="mesh" mesh="clav" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="1 0.5 0.75 1" mesh="clav" pos="0 -0.255 0.45" quat="1 0 0 0" />
<geom pos="0 -0.255 0.45" type="mesh" mesh="scap" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="1 0.5 0.75 1" mesh="scap" pos="0 -0.255 0.45" />
<geom pos="0 -0.255 0.45" type="mesh" mesh="uarm" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="1 0.5 0.75 1" mesh="uarm" pos="0 -0.255 0.45" />
<geom pos="0 -0.255 0.22" type="mesh" mesh="farm" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="1 0.5 0.75 1" mesh="farm" pos="0 -0.255 0.22" />
<body name="L_buttock" pos="0 0.1577 0">
<inertial pos="0.00129183 -0.00184328 2.27946e-05" quat="0.706341 0.707841 -0.00498313 -0.00434939" mass="1.29909" diaginertia="0.00209325 0.00150009 0.00131174" />
<joint name="L_hip_y" pos="0 0 0" axis="0 1 0" range="-3.14 3.14" />
<geom quat="2.67949e-08 1 0 0" type="mesh" mesh="buttock" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="1 0.5 0.75 1" mesh="buttock" quat="2.67949e-08 1 0 0" />
<body name="L_leg">
<inertial pos="0.000708602 -2.24355e-05 -0.110352" quat="0.706876 0.0329943 0.0330587 0.705794" mass="1.33983" diaginertia="0.00375341 0.00352246 0.00184361" />
<joint name="L_hip_x" pos="0 0 0" axis="1 0 0" range="-0.523 2.093" />
<geom type="mesh" mesh="leg" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="1 0.5 0.75 1" mesh="leg" />
<body name="L_thigh">
<inertial pos="-0.000407357 0.00130538 -0.291653" quat="0.711843 -0.00549725 0.000501512 0.702317" mass="1.93995" diaginertia="0.00607631 0.0044935 0.00293511" />
<joint name="L_hip_z" pos="0 0 0" axis="0 0 1" range="-3.14 3.14" />
<geom type="mesh" mesh="mthigh" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="1 0.5 0.75 1" mesh="mthigh" />
<body name="L_calf" pos="0 0 -0.3">
<inertial pos="-0.00195352 -0.00434338 -0.134048" quat="0.599799 -0.00402307 0.025204 0.799743" mass="1.54477" diaginertia="0.00986297 0.00971929 0.00143814" />
<joint name="L_knee" pos="0 0 0" axis="0 1 0" range="-1.919 1.919" />
<geom type="mesh" mesh="mcalf" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="1 0.5 0.75 1" mesh="mcalf" />
<body name="L_foot" pos="0 0 -0.3">
<inertial pos="0.0233665 0.014827 -0.0165314" quat="-0.00182247 0.713608 0.0126839 0.700428" mass="0.542373" diaginertia="0.00215059 0.00196588 0.000256086" />
<joint name="L_ankle_y" pos="0 0 0" axis="0 1 0" range="-0.698 0.698" frictionloss="0.01" />
<geom size="0.11 0.04 0.0075" pos="0.03 -0.011 -0.02" type="box" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="box" rgba="1 0.5 0.75 1" size="0.11 0.04 0.0075" pos="0.03 -0.011 -0.02" />
</body>
</body>
</body>
</body>
</body>
<body name="R_buttock" pos="0 -0.1577 0">
<inertial pos="0.00129183 0.00184328 2.27946e-05" quat="0.707841 0.706341 0.00434939 0.00498313" mass="1.29909" diaginertia="0.00209325 0.00150009 0.00131174" />
<joint name="R_hip_y" pos="0 0 0" axis="0 1 0" range="-3.14 3.14" />
<geom type="mesh" mesh="buttock" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="1 0.5 0.75 1" mesh="buttock" />
<body name="R_leg">
<inertial pos="0.000708602 2.24355e-05 -0.110352" quat="0.705794 0.0330587 0.0329943 0.706876" mass="1.33983" diaginertia="0.00375341 0.00352246 0.00184361" />
<joint name="R_hip_x" pos="0 0 0" axis="1 0 0" range="-2.093 0.523" />
<geom type="mesh" mesh="leg" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="1 0.5 0.75 1" mesh="leg" />
<body name="R_thigh">
<inertial pos="-0.000407357 -0.00130538 -0.291653" quat="0.702317 0.000501512 -0.00549725 0.711843" mass="1.93995" diaginertia="0.00607631 0.0044935 0.00293511" />
<joint name="R_hip_z" pos="0 0 0" axis="0 0 1" range="-3.14 3.14" />
<geom type="mesh" mesh="thigh" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="1 0.5 0.75 1" mesh="thigh" />
<body name="R_calf" pos="0 0 -0.3">
<inertial pos="-0.00195352 0.00434338 -0.134048" quat="0.799743 0.025204 -0.00402307 0.599799" mass="1.54477" diaginertia="0.00986297 0.00971929 0.00143814" />
<joint name="R_knee" pos="0 0 0" axis="0 1 0" range="-1.919 1.919" />
<geom type="mesh" mesh="calf" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="1 0.5 0.75 1" mesh="calf" />
<body name="R_foot" pos="0 0 -0.3">
<inertial pos="0.0233665 0.014827 -0.0165314" quat="-0.00182247 0.713608 0.0126839 0.700428" mass="0.542373" diaginertia="0.00215059 0.00196588 0.000256086" />
<joint name="R_ankle_y" pos="0 0 0" axis="0 1 0" range="-0.698 0.698" frictionloss="0.01" />
<geom size="0.11 0.04 0.0075" pos="0.03 0.011 -0.02" type="box" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="box" rgba="1 0.5 0.75 1" size="0.11 0.04 0.0075" pos="0.03 0.011 -0.02" />
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>

<actuator>
<motor name="L_hip_y" joint="L_hip_y" ctrllimited="true" ctrlrange="-200 200" gear="1" />
<motor name="L_hip_x" joint="L_hip_x" ctrllimited="true" ctrlrange="-200 200" gear="1" />
<motor name="L_hip_z" joint="L_hip_z" ctrllimited="true" ctrlrange="-200 200" gear="1" />
<motor name="L_knee" joint="L_knee" ctrllimited="true" ctrlrange="-200 200" gear="1" />
<motor name="L_ankle_y" joint="L_ankle_y" ctrllimited="true" ctrlrange="-200 200" gear="1" />
<motor name="R_hip_y" joint="R_hip_y" ctrllimited="true" ctrlrange="-200 200" gear="1" />
<motor name="R_hip_x" joint="R_hip_x" ctrllimited="true" ctrlrange="-200 200" gear="1" />
<motor name="R_hip_z" joint="R_hip_z" ctrllimited="true" ctrlrange="-200 200" gear="1" />
<motor name="R_knee" joint="R_knee" ctrllimited="true" ctrlrange="-200 200" gear="1" />
<motor name="R_ankle_y" joint="R_ankle_y" ctrllimited="true" ctrlrange="-200 200" gear="1" />
</actuator>

<sensor>
<actuatorpos name="L_hip_y_p" actuator="L_hip_y" user="13" />
<actuatorvel name="L_hip_y_v" actuator="L_hip_y" user="13" />
<actuatorfrc name="L_hip_y_f" actuator="L_hip_y" noise="0.001" user="13" />
<actuatorpos name="L_hip_x_p" actuator="L_hip_x" user="13" />
<actuatorvel name="L_hip_x_v" actuator="L_hip_x" user="13" />
<actuatorfrc name="L_hip_x_f" actuator="L_hip_x" noise="0.001" user="13" />
<actuatorpos name="L_hip_z_p" actuator="L_hip_z" user="13" />
<actuatorvel name="L_hip_z_v" actuator="L_hip_z" user="13" />
<actuatorfrc name="L_hip_z_f" actuator="L_hip_z" noise="0.001" user="13" />
<actuatorpos name="L_knee_p" actuator="L_knee" user="13" />
<actuatorvel name="L_knee_v" actuator="L_knee" user="13" />
<actuatorfrc name="L_knee_f" actuator="L_knee" noise="0.001" user="13" />
<actuatorpos name="L_ankle_y_p" actuator="L_ankle_y" user="13" />
<actuatorvel name="L_ankle_y_v" actuator="L_ankle_y" user="13" />
<actuatorfrc name="L_ankle_y_f" actuator="L_ankle_y" noise="0.001" user="13" />
<actuatorpos name="R_hip_y_p" actuator="R_hip_y" user="13" />
<actuatorvel name="R_hip_y_v" actuator="R_hip_y" user="13" />
<actuatorfrc name="R_hip_y_f" actuator="R_hip_y" noise="0.001" user="13" />
<actuatorpos name="R_hip_x_p" actuator="R_hip_x" user="13" />
<actuatorvel name="R_hip_x_v" actuator="R_hip_x" user="13" />
<actuatorfrc name="R_hip_x_f" actuator="R_hip_x" noise="0.001" user="13" />
<actuatorpos name="R_hip_z_p" actuator="R_hip_z" user="13" />
<actuatorvel name="R_hip_z_v" actuator="R_hip_z" user="13" />
<actuatorfrc name="R_hip_z_f" actuator="R_hip_z" noise="0.001" user="13" />
<actuatorpos name="R_knee_p" actuator="R_knee" user="13" />
<actuatorvel name="R_knee_v" actuator="R_knee" user="13" />
<actuatorfrc name="R_knee_f" actuator="R_knee" noise="0.001" user="13" />
<actuatorpos name="R_ankle_y_p" actuator="R_ankle_y" user="13" />
<actuatorvel name="R_ankle_y_v" actuator="R_ankle_y" user="13" />
<actuatorfrc name="R_ankle_y_f" actuator="R_ankle_y" noise="0.001" user="13" />
<framequat name="orientation" objtype="site" noise="0.001" objname="imu" />
<gyro name="angular-velocity" site="imu" noise="0.005" cutoff="34.9" />
</sensor>

<keyframe>
<key name="default" qpos="0 0 0.63 0. 0.0 0.0 1.0 -0.23 0.0 0.0 0.441 -0.258 -0.23 0.0 0.0 0.441 -0.258" />
</keyframe>
</mujoco>
20 changes: 19 additions & 1 deletion tests/test_conversion.py
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@


@pytest.mark.slow
def test_conversion(tmpdir: Path) -> None:
def test_conversion_output(tmpdir: Path) -> None:
urdf_path = Path(__file__).parent / "sample" / "robot.urdf"
mjcf_path = tmpdir / "robot.mjcf"
convert_urdf_to_mjcf(
Expand All @@ -21,6 +21,24 @@ def test_conversion(tmpdir: Path) -> None:
assert mjcf_path.exists()


@pytest.mark.slow
def test_conversion_no_frc_limit(tmpdir: Path) -> None:
urdf_path = Path(__file__).parent / "sample" / "robot.urdf"
mjcf_path = tmpdir / "robot.mjcf"
convert_urdf_to_mjcf(
urdf_path=urdf_path,
mjcf_path=mjcf_path,
no_frc_limit=True,
copy_meshes=False,
)
# Compare the outputted MJCF with the expected XML
expected_mjcf_path = Path(__file__).parent / "sample" / "robot.xml"
with open(mjcf_path, 'r') as output_file, open(expected_mjcf_path, 'r') as expected_file:
output_content = output_file.read()
expected_content = expected_file.read()
assert output_content == expected_content, "The output MJCF does not match the expected XML."


if __name__ == "__main__":
# python -m tests.test_conversion
with tempfile.TemporaryDirectory() as temp_dir:
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