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Add user sensor bindings.

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Stop force-setting nusersensor, instead allow MuJoCo to infer the size.

PiperOrigin-RevId: 494783883
Change-Id: Ia2a1b1803b2904f2dded7b790d01eb6f1920dbaf
This commit is contained in:
Tom Erez
2022-12-12 11:42:00 -08:00
committed by Copybara-Service
parent 7a248a8bde
commit 21f10ce1b6
6 changed files with 99 additions and 16 deletions
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unity/Tests/Editor/Components/MjSceneTests.cs
+28 -7
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@@ -99,12 +99,25 @@ public class MjSceneGenerationTests {
[Test]
public void SensorsAreAddedToDedicatedTag() {
_sensor.enabled = true;
_sensor1.enabled = true;
var mjcf = _scene.CreateScene(skipCompile:true);
var mjcfForSensor = mjcf.SelectNodes("/mujoco/sensor/jointpos")[0] as XmlElement;
Assert.That(mjcfForSensor, Is.Not.Null);
}
[Test]
public void SensorsAreOrdered() {
_sensor0.enabled = true;
_sensor1.enabled = true;
var mjcf = _scene.CreateScene(skipCompile:true);
var sensor0Element =
mjcf.SelectNodes("/mujoco/sensor")[0].ChildNodes[_sensor0.transform.GetSiblingIndex()] as XmlElement;
Assert.That(sensor0Element.Name, Is.EqualTo("user"));
var sensor1Element =
mjcf.SelectNodes("/mujoco/sensor")[0].ChildNodes[_sensor1.transform.GetSiblingIndex()] as XmlElement;
Assert.That(sensor1Element.Name, Is.EqualTo("jointpos"));
}
[Test]
public unsafe void SceneRecreatedWithAddition() {
_scene.CreateScene();
@@ -168,7 +181,9 @@ public class MjSceneGenerationTests {
private MjScene _scene;
private FakeMjBody _fakeBodyA;
private FakeMjBody _fakeBodyB;
private MjJointScalarSensor _sensor;
private Transform _sensorGroup;
private MjUserSensor _sensor0;
private MjJointScalarSensor _sensor1;
private MjBody _body;
private MjInertial _inertia;
private MjHingeJoint _joint;
@@ -181,7 +196,12 @@ public class MjSceneGenerationTests {
_scene = MjScene.Instance;
_fakeBodyA = new GameObject("component").AddComponent<FakeMjBody>();
_fakeBodyB = new GameObject("component").AddComponent<FakeMjBody>();
_sensor = new GameObject("sensor").AddComponent<MjJointScalarSensor>();
_sensor0 = new GameObject("sensor").AddComponent<MjUserSensor>();
_sensor0.Dimension = 1;
_sensor1 = new GameObject("sensor").AddComponent<MjJointScalarSensor>();
_sensorGroup = new GameObject("sensors").transform;
_sensor0.transform.parent = _sensorGroup;
_sensor1.transform.parent = _sensorGroup;
_actuator = new GameObject("actuator").AddComponent<MjActuator>();
// body, joint and inertia are always present so that the actuator and sensor are valid
_body = new GameObject("body").AddComponent<MjBody>();
@@ -189,12 +209,12 @@ public class MjSceneGenerationTests {
_inertia.transform.parent = _body.transform;
_joint = new GameObject("joint").AddComponent<MjHingeJoint>();
_joint.transform.parent = _body.transform;
_sensor.Joint = _joint;
_sensor.SensorType = MjJointScalarSensor.AvailableSensors.JointPos;
_sensor1.Joint = _joint;
_sensor1.SensorType = MjJointScalarSensor.AvailableSensors.JointPos;
_actuator.Joint = _joint;
_fakeBodyA.enabled = false;
_fakeBodyB.enabled = false;
_sensor.enabled = false;
_sensor1.enabled = false;
_actuator.enabled = false;
}
@@ -202,7 +222,8 @@ public class MjSceneGenerationTests {
public void TearDown() {
UnityEngine.Object.DestroyImmediate(_fakeBodyA.gameObject);
UnityEngine.Object.DestroyImmediate(_fakeBodyB.gameObject);
UnityEngine.Object.DestroyImmediate(_sensor.gameObject);
UnityEngine.Object.DestroyImmediate(_sensor0.gameObject);
UnityEngine.Object.DestroyImmediate(_sensor1.gameObject);
UnityEngine.Object.DestroyImmediate(_actuator.gameObject);
UnityEngine.Object.DestroyImmediate(_joint.gameObject);
UnityEngine.Object.DestroyImmediate(_inertia.gameObject);