Added touch grid sensor plugin.

PiperOrigin-RevId: 527512624 Change-Id: I0f316eb6eb2c52472abbec484e5538b66ba2e82e
2023-04-27 02:02:16 -07:00
parent 139328f86e
commit b397b3123e
17 changed files with 940 additions and 2 deletions
@@ -0,0 +1,21 @@
+# Copyright 2022 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
+#
+#     https://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.
+
+mujoco_test(
+  sensor_test
+  PROPERTIES
+  ENVIRONMENT
+  "MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:sensor>"
+)
+target_link_libraries(sensor_test fixture gmock)
@@ -0,0 +1,45 @@
+// Copyright 2023 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.
+
+// Tests for sensor plugins.
+
+#include <string>
+#include <gmock/gmock.h>
+#include <gtest/gtest.h>
+#include <mujoco/mjmodel.h>
+#include <mujoco/mujoco.h>
+#include "test/fixture.h"
+
+namespace mujoco {
+namespace {
+
+using SensorPluginTest = MujocoTest;
+
+static const char* const kTOuchGridPath =
+    "plugin/sensor/testdata/touch_grid_test.xml";
+
+TEST_F(SensorPluginTest, ValidAttributes) {
+  const std::string xml_path = GetTestDataFilePath(kTOuchGridPath);
+  char error[1024] = {0};
+  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
+  ASSERT_THAT(model, testing::NotNull()) << error;
+  int nchannel = 3;
+  int size_x = 6;
+  int size_y = 2;
+  EXPECT_THAT(model->sensor_dim[0], nchannel * size_x * size_y);
+  mj_deleteModel(model);
+}
+
+}  // namespace
+}  // namespace mujoco
@@ -0,0 +1,52 @@
+<mujoco model="touchtest">
+  <extension>
+    <plugin plugin="mujoco.sensor.touch_grid"/>
+  </extension>
+
+  <asset>
+    <texture name="grid" type="2d" builtin="checker" rgb1=".1 .2 .3" rgb2=".2 .3 .4" width="300" height="300" mark="edge" markrgb=".2 .3 .4"/>
+    <material name="grid" texture="grid" texrepeat="3 1" texuniform="true"/>
+  </asset>
+
+  <visual>
+      <headlight ambient=".7 .7 .7" diffuse=".2 .2 .2" specular="0.1 0.1 0.1"/>
+      <map znear="0.01"/>
+  </visual>
+
+  <default>
+    <geom friction="0.4"/>
+  </default>
+
+  <statistic center="0 0 1" extent="1" meansize=".1"/>
+
+  <option gravity="0 0 -10"/>
+
+  <worldbody>
+    <body name="dummy2">
+      <geom name="floor" pos="0 0 0" type="plane" size="1 1 .01" material="grid"/>
+    </body>
+
+    <body name="dummy1">
+      <site name="touch" pos="0 0 10" group="3"/>
+    </body>
+
+    <body name="box" pos="0 0 .1">
+      <freejoint/>
+      <geom type="box" size=".1 .1 .1" mass="0.1"/>
+    </body>
+
+    <light pos="0 0 5"/>
+
+  </worldbody>
+
+  <sensor>
+    <plugin name="touch" plugin="mujoco.sensor.touch_grid" objtype="site" objname="touch">
+      <config key="size_x" value="6"/>
+      <config key="size_y" value="2"/>
+      <config key="fov_x" value="5.71"/>
+      <config key="fov_y" value="5.71"/>
+      <config key="gamma" value="0"/>
+      <config key="nchannel" value="3"/>
+    </plugin>
+  </sensor>
+</mujoco>