Refactor: separate buffer indexing and swizzling.

This also fixes a sensor data reading bug: previously, _sensorIndex was multiplied by 3 by MjEngineTool. PiperOrigin-RevId: 451699887 Change-Id: I864bcbf8159857764854b25311a26ec5672125d9
2022-05-29 00:23:57 -07:00
parent 5cc73c30bf
commit 02f300c762
16 changed files with 213 additions and 86 deletions
@@ -0,0 +1,123 @@
+// Copyright 2019 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#if UNITY_EDITOR
+
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Xml;
+using NUnit.Framework;
+using UnityEngine;
+using UnityEngine.TestTools;
+using UnityEngine.TestTools.Utils;
+
+namespace Mujoco {
+
+[TestFixture]
+public class MjSensorPlayTests {
+  private MjBody _body;
+  private MjSite _site;
+  private MjGeom _geom;
+  private MjHingeJoint _joint;
+  private MjSiteQuaternionSensor _siteQuatSensor0;
+  private MjSiteQuaternionSensor _siteQuatSensor;
+  private MjSiteVectorSensor _siteVectorSensor;
+  private MjGeomQuaternionSensor _geomQuatSensor;
+  private MjGeomVectorSensor _geomVectorSensor;
+  private MjBodyQuaternionSensor _bodyQuatSensor;
+  private MjBodyVectorSensor _bodyVectorSensor;
+  private MjScene _scene;
+
+  [SetUp]
+  public void SetUp() {
+    _scene = MjScene.Instance;
+    _body = new GameObject("body").AddComponent<MjBody>();
+    _site = new GameObject("site").AddComponent<MjSite>();
+    _geom = new GameObject("geom").AddComponent<MjGeom>();
+    _siteQuatSensor0 = new GameObject("sq0").AddComponent<MjSiteQuaternionSensor>();
+    _siteQuatSensor0.Site = _site;
+    _siteQuatSensor = new GameObject("sq").AddComponent<MjSiteQuaternionSensor>();
+    _siteQuatSensor.Site = _site;
+    _siteVectorSensor = new GameObject("sv").AddComponent<MjSiteVectorSensor>();
+    _siteVectorSensor.Site = _site;
+    _siteVectorSensor.SensorType = MjSiteVectorSensor.AvailableSensors.FramePos;
+    _geomQuatSensor = new GameObject("gq").AddComponent<MjGeomQuaternionSensor>();
+    _geomQuatSensor.Geom = _geom;
+    _geomVectorSensor = new GameObject("gv").AddComponent<MjGeomVectorSensor>();
+    _geomVectorSensor.Geom = _geom;
+    _geomVectorSensor.SensorType = MjGeomVectorSensor.AvailableSensors.FramePos;
+    _bodyQuatSensor = new GameObject("bq").AddComponent<MjBodyQuaternionSensor>();
+    _bodyQuatSensor.Body = _body;
+    _bodyVectorSensor = new GameObject("bv").AddComponent<MjBodyVectorSensor>();
+    _bodyVectorSensor.Body = _body;
+    _bodyVectorSensor.SensorType = MjBodyVectorSensor.AvailableSensors.FramePos;
+    _site.transform.position = new Vector3(1, 2, 3);
+    _site.transform.rotation = new Quaternion(0, 1, 2, 3);
+    _geom.transform.position = new Vector3(4, 5, 6);
+    _geom.transform.rotation = new Quaternion(4, 5, 6, 7);
+    _body.transform.position = new Vector3(7, 8, 9);
+    _body.transform.rotation = new Quaternion(7, 8, 9, 9);
+    _scene.CreateScene(); // compilation happens here
+  }
+
+  [TearDown]
+  public void TearDown() {
+    GameObject.DestroyImmediate(_site.gameObject);
+    GameObject.DestroyImmediate(_body.gameObject);
+    GameObject.DestroyImmediate(_geom.gameObject);
+    GameObject.DestroyImmediate(_siteQuatSensor0.gameObject);
+    GameObject.DestroyImmediate(_siteQuatSensor.gameObject);
+    GameObject.DestroyImmediate(_siteVectorSensor.gameObject);
+    GameObject.DestroyImmediate(_geomQuatSensor.gameObject);
+    GameObject.DestroyImmediate(_geomVectorSensor.gameObject);
+    GameObject.DestroyImmediate(_bodyQuatSensor.gameObject);
+    GameObject.DestroyImmediate(_bodyVectorSensor.gameObject);
+    GameObject.DestroyImmediate(_scene.gameObject);
+    GameObject.DestroyImmediate(MjScene.Instance);
+  }
+
+  [UnityTest]
+  public IEnumerator CheckSensorData() {
+    yield return new WaitForFixedUpdate(); // updating the transform
+    yield return new WaitForFixedUpdate(); // updating the transform
+    var vecComparer = new Vector3EqualityComparer(1e-4f);
+    var quatComparer = new Vector4EqualityComparer(1e-4f);
+    Assert.That(
+        _siteVectorSensor.SensorReading,
+        Is.EqualTo(_site.transform.position).Using(vecComparer));
+    Assert.That(
+        _geomVectorSensor.SensorReading,
+        Is.EqualTo(_geom.transform.position).Using(vecComparer));
+    Assert.That(
+        _bodyVectorSensor.SensorReading,
+        Is.EqualTo(_body.transform.position).Using(vecComparer));
+
+    Assert.That(
+        _siteQuatSensor0.SensorReading,
+        Is.EqualTo(_site.transform.rotation.normalized).Using(quatComparer));
+    Assert.That(
+        _siteQuatSensor.SensorReading,
+        Is.EqualTo(_site.transform.rotation.normalized).Using(quatComparer));
+    Assert.That(
+        _geomQuatSensor.SensorReading,
+        Is.EqualTo(_geom.transform.rotation.normalized).Using(quatComparer));
+    Assert.That(
+        _bodyQuatSensor.SensorReading,
+        Is.EqualTo(_body.transform.rotation.normalized).Using(quatComparer));
+  }
+}
+}
+
+#endif