mjcf->sdformat sliding friction #86
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Add friction to plane in test_mujoco.xml for unit test and test default friction with tennis_ball.xml Signed-off-by: Steve Peters <[email protected]>
Codecov Report
@@ Coverage Diff @@
## main #86 +/- ##
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Coverage 95.15% 95.16%
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Files 24 24
Lines 1177 1179 +2
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+ Hits 1120 1122 +2
Misses 57 57
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azeey
requested changes
Jun 28, 2022
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| if geom.friction is not None: | ||
| col.surface().friction().ode().set_mu(geom.friction[0]) |
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If the friction is None, we should set to the default value of 1.
Suggested change
| if geom.friction is not None: | |
| col.surface().friction().ode().set_mu(geom.friction[0]) | |
| friction = su.get_value_or_default(geom.friction, [1, 0.005, 0.0001]) | |
| col.surface().friction().ode().set_mu(friction[0]) |
sdformat_mjcf/tests/mjcf_to_sdformat/test_add_mjcf_geometry_to_sdf.py
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Signed-off-by: Steve Peters <[email protected]>
Signed-off-by: Steve Peters <[email protected]>
azeey
reviewed
Jun 28, 2022
sdformat_mjcf/src/sdformat_mjcf/mjcf_to_sdformat/converters/geometry.py
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Signed-off-by: Steve Peters <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]>
azeey
approved these changes
Jun 28, 2022
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| self.assertEqual(sdf.GeometryType.PLANE, | ||
| sdf_plane_collision.geom().type()) | ||
| self.assertEqual(0.9, | ||
| sdf_plane_collision.surface().friction().ode().mu()) |
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Suggested change
| self.assertEqual(sdf.GeometryType.PLANE, | |
| sdf_plane_collision.geom().type()) | |
| self.assertEqual(0.9, | |
| sdf_plane_collision.surface().friction().ode().mu()) | |
| self.assertEqual(sdf.GeometryType.PLANE, | |
| sdf_plane_collision.geom().type()) | |
| self.assertEqual(0.9, | |
| sdf_plane_collision.surface().friction().ode().mu()) |
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| self.assertEqual(sdf.GeometryType.CAPSULE, | ||
| sdf_rail1_collision.geom().type()) | ||
| self.assertEqual(1.0, | ||
| sdf_rail1_collision.surface().friction().ode().mu()) |
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Suggested change
| self.assertEqual(sdf.GeometryType.CAPSULE, | |
| sdf_rail1_collision.geom().type()) | |
| self.assertEqual(1.0, | |
| sdf_rail1_collision.surface().friction().ode().mu()) | |
| self.assertEqual(sdf.GeometryType.CAPSULE, | |
| sdf_rail1_collision.geom().type()) | |
| self.assertEqual(1.0, | |
| sdf_rail1_collision.surface().friction().ode().mu()) |
Signed-off-by: Steve Peters <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
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Fixed test error in 359552a |
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🎉 New feature
Follow-up to #70
Summary
This supports translation of sliding friction parameters from MJCF to SDFormat, the reverse of #70. It requires gazebosim/sdformat#1049 and will remain in draft state until that is merged.
Test it
Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.