chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Fix Unity tests for sensornoise attribute

Browse Source
This commit is contained in:
Bálint Hodossy
2024-05-27 11:29:04 +01:00
parent a9308a4420
commit 161ed22299
4 changed files with 4 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
unity/Runtime/Components/MjGlobalSettings.cs
+2 -2
View File
@@ -335,8 +335,8 @@ public class MjGlobalSettings : MonoBehaviour {
} else if (instances.Length == 1) { } else if (instances.Length == 1) {
_instance = instances[0]; _instance = instances[0];
} }
} }
return _instance; return _instance;
} }
} }
unity/Tests/Editor/Components/MjGlobalSettingsTests.cs
-1
View File
@@ -101,7 +101,6 @@ public class MjGlobalSettingsGenerationTests {
Assert.That(_doc.OuterXml, Does.Contain(@"override=")); Assert.That(_doc.OuterXml, Does.Contain(@"override="));
Assert.That(_doc.OuterXml, Does.Contain(@"energy=")); Assert.That(_doc.OuterXml, Does.Contain(@"energy="));
Assert.That(_doc.OuterXml, Does.Contain(@"fwdinv=")); Assert.That(_doc.OuterXml, Does.Contain(@"fwdinv="));
Assert.That(_doc.OuterXml, Does.Contain(@"sensornoise="));
} }
} }
unity/Tests/Editor/Components/Sensors/MjBaseSensorTests.cs
+1 -4
View File
@@ -53,19 +53,16 @@ public class MjBaseSensorTests {
[Test] [Test]
public void GeneratingNoiseAndCutoffMjcf() { public void GeneratingNoiseAndCutoffMjcf() {
_sensor.Noise = 2.0f;
_sensor.Cutoff = 3.0f; _sensor.Cutoff = 3.0f;
_doc.AppendChild(_sensor.GenerateMjcf("name", _doc)); _doc.AppendChild(_sensor.GenerateMjcf("name", _doc));
Assert.That(_doc.OuterXml, Does.Contain("noise=\"2\""));
Assert.That(_doc.OuterXml, Does.Contain("cutoff=\"3\"")); Assert.That(_doc.OuterXml, Does.Contain("cutoff=\"3\""));
} }
[Test] [Test]
public void ParsingShapePropertiesMjcf() { public void ParsingShapePropertiesMjcf() {
var mjcfString = "<sensor noise=\"3\" cutoff=\"4\" actuator=\"actuator\"/>"; var mjcfString = "<sensor cutoff=\"4\" actuator=\"actuator\"/>";
var mjcfElement = Parse(mjcfString, "sensor"); var mjcfElement = Parse(mjcfString, "sensor");
_sensor.ParseMjcf(mjcfElement); _sensor.ParseMjcf(mjcfElement);
Assert.That(_sensor.Noise, Is.EqualTo(3.0f));
Assert.That(_sensor.Cutoff, Is.EqualTo(4.0f)); Assert.That(_sensor.Cutoff, Is.EqualTo(4.0f));
} }
} }
unity/Tests/Editor/Importer/MjcfImporterTests.cs
+1 -2
View File
@@ -274,7 +274,7 @@ public class MjcfImporterTests {
public void ReadingOptionFlags() { public void ReadingOptionFlags() {
var mjcfString = @"<mujoco> var mjcfString = @"<mujoco>
<option> <option>
<flag gravity='disable' contact='disable' sensornoise='enable'/> <flag gravity='disable' contact='disable'/>
</option> </option>
<worldbody/> <worldbody/>
</mujoco>"; </mujoco>";
@@ -283,7 +283,6 @@ public class MjcfImporterTests {
var settings = _sceneRoot.GetComponentInChildren<MjGlobalSettings>(); var settings = _sceneRoot.GetComponentInChildren<MjGlobalSettings>();
Assert.That(settings.GlobalOptions.Flag.Gravity, Is.EqualTo(EnableDisableFlag.disable)); Assert.That(settings.GlobalOptions.Flag.Gravity, Is.EqualTo(EnableDisableFlag.disable));
Assert.That(settings.GlobalOptions.Flag.Contact, Is.EqualTo(EnableDisableFlag.disable)); Assert.That(settings.GlobalOptions.Flag.Contact, Is.EqualTo(EnableDisableFlag.disable));
Assert.That(settings.GlobalOptions.Flag.SensorNoise, Is.EqualTo(EnableDisableFlag.enable));
} }
[Test] [Test]