Alessio Quaglino
f6cd0234fd
The normal component of the tactile sensor now reports the maximum penetration depth at each taxel, instead of a derived normal force. The depth is negated so that positive values indicate penetration. PiperOrigin-RevId: 921980899 Change-Id: Ide4103c0aff465e25a81cfdda650f6a0e2da9e0b
1818 lines
57 KiB
C++
1818 lines
57 KiB
C++
// Copyright 2021 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 engine/engine_sensor.c.
|
|
|
|
#include <algorithm>
|
|
#include <cstddef>
|
|
#include <string>
|
|
#include <vector>
|
|
|
|
#include <gmock/gmock.h>
|
|
#include <gtest/gtest.h>
|
|
#include <mujoco/mjmodel.h>
|
|
#include <mujoco/mjtype.h>
|
|
#include <mujoco/mujoco.h>
|
|
#include "src/engine/engine_support.h"
|
|
#include "src/engine/engine_util_blas.h"
|
|
#include "src/engine/engine_util_spatial.h"
|
|
#include "test/fixture.h"
|
|
|
|
namespace mujoco {
|
|
namespace {
|
|
|
|
using ::std::string;
|
|
using ::std::vector;
|
|
|
|
|
|
using ::testing::ElementsAre;
|
|
using ::testing::ElementsAreArray;
|
|
using ::testing::HasSubstr;
|
|
using ::testing::IsNull;
|
|
using ::testing::Not;
|
|
using ::testing::NotNull;
|
|
using ::testing::Pointwise;
|
|
using ::testing::SizeIs;
|
|
using ::testing::StrEq;
|
|
using ::testing::WhenSorted;
|
|
|
|
const mjtNum tol = 1e-14; // nearness tolerance for floating point numbers
|
|
|
|
// returns as a vector the measured values from sensor with index `id`
|
|
static vector<mjtNum> GetSensor(const mjModel* model,
|
|
const mjData* data, int id) {
|
|
return vector<mjtNum>(
|
|
data->sensordata + model->sensor_adr[id],
|
|
data->sensordata + model->sensor_adr[id] + model->sensor_dim[id]);
|
|
}
|
|
|
|
// returns as a vector the measured values from sensor with name `name
|
|
static vector<mjtNum> GetSensor(const mjModel* model,
|
|
const mjData* data, const char* name) {
|
|
int id = mj_name2id(model, mjOBJ_SENSOR, name);
|
|
return vector<mjtNum>(
|
|
data->sensordata + model->sensor_adr[id],
|
|
data->sensordata + model->sensor_adr[id] + model->sensor_dim[id]);
|
|
}
|
|
|
|
using SensorTest = MujocoTest;
|
|
|
|
// --------------------- test sensor disable flag ------------------------------
|
|
|
|
TEST_F(SensorTest, DisableSensors) {
|
|
constexpr char xml[] = R"(
|
|
<mujoco>
|
|
<sensor>
|
|
<clock/>
|
|
</sensor>
|
|
</mujoco>
|
|
)";
|
|
char error[1024];
|
|
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
|
|
ASSERT_THAT(model, NotNull()) << error;
|
|
mjData* data = mj_makeData(model);
|
|
|
|
// call mj_forward, expect clock to report 0
|
|
mj_forward(model, data);
|
|
EXPECT_EQ(data->sensordata[0], 0.0);
|
|
|
|
// call mj_step, mj_step1, expect clock to be incremented by timestep
|
|
mj_step(model, data);
|
|
mj_step1(model, data);
|
|
EXPECT_EQ(data->sensordata[0], model->opt.timestep);
|
|
|
|
// disable sensors, call mj_step, mj_step1, expect clock to not increment
|
|
model->opt.disableflags |= mjDSBL_SENSOR;
|
|
mj_step(model, data);
|
|
mj_step1(model, data);
|
|
EXPECT_EQ(data->time, 2*model->opt.timestep);
|
|
EXPECT_EQ(data->sensordata[0], model->opt.timestep);
|
|
|
|
// re-enable sensors, call mj_step, mj_step1, expect clock to match time
|
|
model->opt.disableflags = 0;
|
|
mj_step(model, data);
|
|
mj_step1(model, data);
|
|
EXPECT_EQ(data->time, data->sensordata[0]);
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
// --------------------- test relative frame sensors --------------------------
|
|
|
|
using RelativeFrameSensorTest = MujocoTest;
|
|
|
|
// hand-picked positions and orientations for simple expected values
|
|
TEST_F(RelativeFrameSensorTest, ReferencePosMat) {
|
|
constexpr char xml[] = R"(
|
|
<mujoco>
|
|
<worldbody>
|
|
<body name="reference" pos="3 -4 0" xyaxes="4 3 0 -3 4 0"/>
|
|
<site name="object" pos="4 3 0" xyaxes="3 -4 0 4 3 0"/>
|
|
</worldbody>
|
|
<sensor>
|
|
<framepos objtype="site" objname="object"
|
|
reftype="xbody" refname="reference"/>
|
|
<framexaxis objtype="site" objname="object"
|
|
reftype="xbody" refname="reference"/>
|
|
<frameyaxis objtype="site" objname="object"
|
|
reftype="xbody" refname="reference"/>
|
|
</sensor>
|
|
</mujoco>
|
|
)";
|
|
char error[1024];
|
|
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
|
|
ASSERT_THAT(model, NotNull()) << error;
|
|
mjData* data = mj_makeData(model);
|
|
mj_forward(model, data);
|
|
|
|
// compare actual and expected values
|
|
vector pos = GetSensor(model, data, 0);
|
|
EXPECT_THAT(pos, Pointwise(MjNear(tol, 1e-6), {5, 5, 0}));
|
|
|
|
vector xaxis = GetSensor(model, data, 1);
|
|
EXPECT_THAT(xaxis, Pointwise(MjNear(tol, 1e-6), {0, -1, 0}));
|
|
|
|
vector yaxis = GetSensor(model, data, 2);
|
|
EXPECT_THAT(yaxis, Pointwise(MjNear(tol, 1e-6), {1, 0, 0}));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
// orientations given by quaternion and by orientation matrix are identical
|
|
TEST_F(RelativeFrameSensorTest, ReferenceQuatMat) {
|
|
constexpr char xml[] = R"(
|
|
<mujoco>
|
|
<worldbody>
|
|
<site name="reference" euler="10 20 30"/>
|
|
<site name="object" euler="20 40 60"/>
|
|
</worldbody>
|
|
<sensor>
|
|
<framexaxis objtype="site" objname="object"
|
|
reftype="site" refname="reference"/>
|
|
<frameyaxis objtype="site" objname="object"
|
|
reftype="site" refname="reference"/>
|
|
<framezaxis objtype="site" objname="object"
|
|
reftype="site" refname="reference"/>
|
|
<framequat objtype="site" objname="object"
|
|
reftype="site" refname="reference"/>
|
|
</sensor>
|
|
</mujoco>
|
|
)";
|
|
mjModel* model = LoadModelFromString(xml);
|
|
mjData* data = mj_makeData(model);
|
|
|
|
// call mj_forward and convert orientation matrix to quaternion
|
|
mj_forward(model, data);
|
|
mjtNum mat[9], converted_quat[4];
|
|
mju_transpose(mat, data->sensordata, 3, 3);
|
|
mju_mat2Quat(converted_quat, mat);
|
|
|
|
// compare quaternion sensor and quat derived from orientation matrix
|
|
vector quat = GetSensor(model, data, 3);
|
|
EXPECT_THAT(quat, Pointwise(MjNear(tol, 1e-6), converted_quat));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
// compare global frame and initially co-located relative frame on same body
|
|
TEST_F(RelativeFrameSensorTest, ReferencePosMatQuat) {
|
|
constexpr char xml[] = R"(
|
|
<mujoco>
|
|
<worldbody>
|
|
<body>
|
|
<freejoint/>
|
|
<site name="reference"/>
|
|
<geom name="object" euler="20 40 60" pos="1 2 3" size="1"/>
|
|
</body>
|
|
</worldbody>
|
|
<sensor>
|
|
<framepos objtype="geom" objname="object"/>
|
|
<framexaxis objtype="geom" objname="object"/>
|
|
<frameyaxis objtype="geom" objname="object"/>
|
|
<framezaxis objtype="geom" objname="object"/>
|
|
<framequat objtype="geom" objname="object"/>
|
|
<framepos objtype="geom" objname="object"
|
|
reftype="site" refname="reference"/>
|
|
<framexaxis objtype="geom" objname="object"
|
|
reftype="site" refname="reference"/>
|
|
<frameyaxis objtype="geom" objname="object"
|
|
reftype="site" refname="reference"/>
|
|
<framezaxis objtype="geom" objname="object"
|
|
reftype="site" refname="reference"/>
|
|
<framequat objtype="geom" objname="object"
|
|
reftype="site" refname="reference"/>
|
|
</sensor>
|
|
</mujoco>
|
|
)";
|
|
mjModel* model = LoadModelFromString(xml);
|
|
constexpr int nsensordata = 32;
|
|
ASSERT_EQ(model->nsensordata, nsensordata);
|
|
mjData* data = mj_makeData(model);
|
|
|
|
// call mj_forward, save global sensors (colocated with reference frame)
|
|
mj_forward(model, data);
|
|
vector expected_values(data->sensordata, data->sensordata+nsensordata/2);
|
|
|
|
// set qpos to arbitrary values, call mj_forward
|
|
for (int i=0; i < 7; i++) {
|
|
data->qpos[i] = i+1;
|
|
}
|
|
mj_forward(model, data);
|
|
|
|
// get values from relative sensors after moving the object
|
|
vector actual_values(data->sensordata+nsensordata/2,
|
|
data->sensordata+nsensordata);
|
|
|
|
// object and reference have moved together, we expect values to not change
|
|
EXPECT_THAT(actual_values, Pointwise(MjNear(tol, 1e-6), expected_values));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
// hand-picked velocities and orientations for simple expected values
|
|
TEST_F(RelativeFrameSensorTest, FrameVelLinearFixed) {
|
|
constexpr char xml[] = R"(
|
|
<mujoco>
|
|
<worldbody>
|
|
<body xyaxes="1 -1 0 1 1 0">
|
|
<joint type="slide" axis="1 0 0"/>
|
|
<geom name="reference" size="1"/>
|
|
</body>
|
|
<body>
|
|
<joint type="slide" axis="1 0 0"/>
|
|
<geom name="object" size="1"/>
|
|
</body>
|
|
</worldbody>
|
|
<sensor>
|
|
<framelinvel objtype="geom" objname="object"
|
|
reftype="geom" refname="reference"/>
|
|
</sensor>
|
|
</mujoco>
|
|
)";
|
|
mjModel* model = LoadModelFromString(xml);
|
|
mjData* data = mj_makeData(model);
|
|
data->qvel[0] = mju_sqrt(2);
|
|
data->qvel[1] = 1;
|
|
mj_forward(model, data);
|
|
|
|
// compare to expected values
|
|
vector linvel = GetSensor(model, data, 0);
|
|
const mjtNum expected_linvel[3] = {-mju_sqrt(0.5), mju_sqrt(0.5), 0};
|
|
EXPECT_THAT(linvel, Pointwise(MjNear(tol, 1e-6), expected_linvel));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
// object and reference in the same body, expect angular velocities to be zero
|
|
TEST_F(RelativeFrameSensorTest, FrameVelAngFixed) {
|
|
constexpr char xml[] = R"(
|
|
<mujoco>
|
|
<worldbody>
|
|
<body>
|
|
<joint type="hinge" axis="1 2 3"/>
|
|
<geom name="reference" size="1" pos="1 2 3"/>
|
|
<geom name="object" size="1" pos="-3 -2 -1"/>
|
|
</body>
|
|
</worldbody>
|
|
<sensor>
|
|
<frameangvel objtype="geom" objname="object"
|
|
reftype="geom" refname="reference"/>
|
|
</sensor>
|
|
</mujoco>
|
|
)";
|
|
mjModel* model = LoadModelFromString(xml);
|
|
mjData* data = mj_makeData(model);
|
|
|
|
// set joint velocities and call forward dynamics
|
|
data->qvel[0] = 1;
|
|
mj_forward(model, data);
|
|
|
|
// obj and ref rotate together, relative angular velocities should be zero
|
|
vector angvel = GetSensor(model, data, 0);
|
|
EXPECT_THAT(angvel, Pointwise(MjNear(tol, 1e-6), {0, 0, 0}));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
// object and reference rotate on the same global axis
|
|
TEST_F(RelativeFrameSensorTest, FrameVelAngOpposing) {
|
|
constexpr char xml[] = R"(
|
|
<mujoco>
|
|
<worldbody>
|
|
<body xyaxes="0 -1 0 1 0 0">
|
|
<joint type="hinge" axis="0 1 0"/>
|
|
<geom name="reference" size="1"/>
|
|
</body>
|
|
<body>
|
|
<joint type="hinge" axis="1 0 0"/>
|
|
<geom name="object" size="1" pos="-3 -2 -1"/>
|
|
</body>
|
|
</worldbody>
|
|
<sensor>
|
|
<frameangvel objtype="geom" objname="object"
|
|
reftype="geom" refname="reference"/>
|
|
</sensor>
|
|
</mujoco>
|
|
)";
|
|
mjModel* model = LoadModelFromString(xml);
|
|
mjData* data = mj_makeData(model);
|
|
|
|
// set joint velocities and call forward dynamics
|
|
data->qvel[0] = -1;
|
|
data->qvel[1] = 1;
|
|
mj_forward(model, data);
|
|
|
|
// obj and ref rotate on same axis, we can just difference the velocities
|
|
vector angvel = GetSensor(model, data, 0);
|
|
const mjtNum expected_angvel[3] = {0, data->qvel[1]-data->qvel[0], 0};
|
|
EXPECT_THAT(angvel, Pointwise(MjNear(tol, 1e-6), expected_angvel));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
// two arbitrary frames, compare velocity sensors and fin-diffed positions
|
|
TEST_F(RelativeFrameSensorTest, FrameVelGeneral) {
|
|
constexpr char xml[] = R"(
|
|
<mujoco>
|
|
<worldbody>
|
|
<body pos="1 2 3" euler="10 20 30">
|
|
<joint type="hinge" axis="2 3 4"/>
|
|
<geom name="reference" size="1" pos="0 1 2"/>
|
|
</body>
|
|
<body pos="-3 -2 -1" euler="20 40 60">
|
|
<joint type="hinge" axis="2 3 4"/>
|
|
<geom name="object" size="1" pos="1 2 3"/>
|
|
</body>
|
|
</worldbody>
|
|
<sensor>
|
|
<framepos objtype="geom" objname="object"
|
|
reftype="geom" refname="reference"/>
|
|
<framequat objtype="geom" objname="object"
|
|
reftype="geom" refname="reference"/>
|
|
<framelinvel objtype="geom" objname="object"
|
|
reftype="geom" refname="reference"/>
|
|
<frameangvel objtype="geom" objname="object"
|
|
reftype="geom" refname="reference"/>
|
|
</sensor>
|
|
</mujoco>
|
|
)";
|
|
mjModel* model = LoadModelFromString(xml);
|
|
mjData* data = mj_makeData(model);
|
|
mjtNum dt = 1e-6; // timestep used for finite differencing
|
|
|
|
// set (arbitrary) joint velocities and call forward dynamics
|
|
data->qvel[0] = 1;
|
|
data->qvel[1] = -1;
|
|
mj_forward(model, data);
|
|
|
|
// save measured linear and angular velocities as vectors
|
|
vector linvel = GetSensor(model, data, 2);
|
|
vector angvel = GetSensor(model, data, 3);
|
|
|
|
// save current position, quaternion as arrays
|
|
mjtNum pos0[3], quat0[4];
|
|
mju_copy3(pos0, data->sensordata);
|
|
mju_copy4(quat0, data->sensordata+3);
|
|
|
|
// explicit Euler integration with small dt
|
|
mju_addToScl(data->qpos, data->qvel, dt, 2);
|
|
|
|
// call mj_forward again, save new position and quaternion
|
|
mj_forward(model, data);
|
|
mjtNum pos1[3], quat1[4];
|
|
mju_copy3(pos1, data->sensordata);
|
|
mju_copy4(quat1, data->sensordata+3);
|
|
|
|
// compute expected linear velocities using finite differencing
|
|
mjtNum linvel_findiff[3];
|
|
mju_sub3(linvel_findiff, pos1, pos0);
|
|
mju_scl3(linvel_findiff, linvel_findiff, 1/dt);
|
|
|
|
// compute expected angular velocities using finite differencing
|
|
mjtNum dquat[4], angvel_findiff[3];
|
|
mju_negQuat(quat0, quat0);
|
|
mju_mulQuat(dquat, quat1, quat0);
|
|
mju_quat2Vel(angvel_findiff, dquat, dt);
|
|
|
|
// compare analytic and finite-differenced relative velocities
|
|
EXPECT_THAT(linvel, Pointwise(MjNear(10 * dt, 0.15),
|
|
linvel_findiff));
|
|
EXPECT_THAT(angvel,
|
|
Pointwise(MjNear(10 * dt, 0.2), angvel_findiff));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
// ------------------------- general sensor tests -----------------------------
|
|
using SensorTest = MujocoTest;
|
|
|
|
TEST_F(SensorTest, EnableEnergy) {
|
|
constexpr char xml[] = R"(
|
|
<mujoco>
|
|
<option gravity="0 0 -5">
|
|
<flag energy="enable"/>
|
|
</option>
|
|
<worldbody>
|
|
<body pos="0 0 2">
|
|
<geom size="1" mass="3"/>
|
|
<freejoint/>
|
|
</body>
|
|
</worldbody>
|
|
</mujoco>
|
|
)";
|
|
mjModel* model = LoadModelFromString(xml);
|
|
mjData* data = mj_makeData(model);
|
|
|
|
mj_forward(model, data);
|
|
EXPECT_NEAR(data->energy[0], 2*3*5, MjTol(1e-12, 1e-5));
|
|
|
|
model->opt.enableflags &= ~mjENBL_ENERGY;
|
|
mj_forward(model, data);
|
|
EXPECT_NEAR(data->energy[0], 0, MjTol(1e-12, 1e-5));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(SensorTest, PotentialEnergy) {
|
|
constexpr char xml[] = R"(
|
|
<mujoco>
|
|
<option gravity="0 0 -5"/>
|
|
<worldbody>
|
|
<body pos="0 0 2">
|
|
<geom size="1" mass="3"/>
|
|
<freejoint/>
|
|
</body>
|
|
</worldbody>
|
|
<sensor>
|
|
<e_potential/>
|
|
</sensor>
|
|
</mujoco>
|
|
)";
|
|
mjModel* model = LoadModelFromString(xml);
|
|
mjData* data = mj_makeData(model);
|
|
|
|
mj_forward(model, data);
|
|
EXPECT_NEAR(data->sensordata[0], 2*3*5, MjTol(1e-12, 1e-5));
|
|
|
|
data->qpos[2] = 7;
|
|
mj_forward(model, data);
|
|
EXPECT_NEAR(data->sensordata[0], 7*3*5, MjTol(1e-12, 1e-5));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(SensorTest, PotentialEnergyFreeJointSpring) {
|
|
constexpr char xml[] = R"(
|
|
<mujoco>
|
|
<option gravity="0 0 0"/>
|
|
<worldbody>
|
|
<body>
|
|
<geom size="1" mass="3"/>
|
|
<joint type="free" stiffness="2"/>
|
|
</body>
|
|
</worldbody>
|
|
<sensor>
|
|
<e_potential/>
|
|
</sensor>
|
|
</mujoco>
|
|
)";
|
|
mjModel* model = LoadModelFromString(xml);
|
|
mjData* data = mj_makeData(model);
|
|
data->qpos[0] = 1;
|
|
data->qpos[1] = 2;
|
|
data->qpos[2] = 3;
|
|
mj_forward(model, data);
|
|
EXPECT_NEAR(data->sensordata[0], 0.5*2*14, MjTol(1e-12, 1e-5));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(SensorTest, KineticEnergy) {
|
|
constexpr char xml[] = R"(
|
|
<mujoco>
|
|
<worldbody>
|
|
<body pos="0 0 2">
|
|
<geom size="1" mass="3"/>
|
|
<freejoint/>
|
|
</body>
|
|
</worldbody>
|
|
<sensor>
|
|
<e_kinetic/>
|
|
</sensor>
|
|
</mujoco>
|
|
)";
|
|
mjModel* model = LoadModelFromString(xml);
|
|
mjData* data = mj_makeData(model);
|
|
|
|
while (data->time < 1.5) {
|
|
mj_step(model, data);
|
|
}
|
|
mj_forward(model, data);
|
|
|
|
mjtNum mass = 3;
|
|
mjtNum speed = data->time * mju_norm3(model->opt.gravity);
|
|
EXPECT_NEAR(data->sensordata[0], 0.5 * mass * speed * speed,
|
|
MjTol(1e-7, 1e-2));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(SensorTest, PolyStiffnessEnergy) {
|
|
static constexpr char xml[] = R"(
|
|
<mujoco>
|
|
<option timestep="0.0001">
|
|
<flag energy="enable"/>
|
|
</option>
|
|
|
|
<worldbody>
|
|
<body>
|
|
<joint type="slide" stiffness="10 5 1"/>
|
|
<geom size="1" mass="1"/>
|
|
</body>
|
|
</worldbody>
|
|
|
|
<keyframe>
|
|
<key qpos="2"/>
|
|
</keyframe>
|
|
</mujoco>
|
|
)";
|
|
|
|
char error[1024];
|
|
mjModel* m = LoadModelFromString(xml, error, sizeof(error));
|
|
ASSERT_THAT(m, NotNull()) << error;
|
|
mjData* d = mj_makeData(m);
|
|
mj_resetDataKeyframe(m, d, 0);
|
|
|
|
mj_forward(m, d);
|
|
mjtNum total_energy = d->energy[0] + d->energy[1];
|
|
|
|
for (int i = 0; i < 100; i++) {
|
|
mj_step(m, d);
|
|
EXPECT_NEAR(d->energy[0] + d->energy[1], total_energy, 0.003);
|
|
}
|
|
|
|
mj_deleteData(d);
|
|
mj_deleteModel(m);
|
|
}
|
|
|
|
// test clock sensor
|
|
TEST_F(SensorTest, Clock) {
|
|
constexpr char xml[] = R"(
|
|
<mujoco>
|
|
<option timestep="1e-3"/>
|
|
<sensor>
|
|
<clock/>
|
|
<clock name="clampedclock" cutoff="3e-3"/>
|
|
</sensor>
|
|
</mujoco>
|
|
)";
|
|
mjModel* model = LoadModelFromString(xml);
|
|
mjData* data = mj_makeData(model);
|
|
|
|
// call step 4 times, checking that clock works as expected
|
|
for (int i=0; i < 5; i++) {
|
|
mj_step(model, data);
|
|
mj_step1(model, data); // update values of position-based sensors
|
|
EXPECT_EQ(data->sensordata[0], data->time);
|
|
EXPECT_EQ(data->sensordata[1], mju_min(data->time, 3e-3));
|
|
}
|
|
|
|
// check names
|
|
const char* name0 = mj_id2name(model, mjOBJ_SENSOR, 0);
|
|
EXPECT_EQ(name0, nullptr);
|
|
const char* name1 = mj_id2name(model, mjOBJ_SENSOR, 1);
|
|
EXPECT_THAT(name1, StrEq("clampedclock"));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
// test that integer parameters pass through
|
|
TEST_F(SensorTest, IntPrm) {
|
|
constexpr char xml[] = R"(
|
|
<mujoco>
|
|
<sensor>
|
|
<clock name="dummy"/>
|
|
</sensor>
|
|
</mujoco>
|
|
)";
|
|
ASSERT_EQ(mjNSENS, 3);
|
|
|
|
char err[1024];
|
|
mjSpec* spec = mj_parseXMLString(xml, 0, err, sizeof(err));
|
|
ASSERT_THAT(spec, NotNull()) << err;
|
|
|
|
mjModel* model = mj_compile(spec, nullptr);
|
|
EXPECT_EQ(model->sensor_intprm[0], 0);
|
|
EXPECT_EQ(model->sensor_intprm[1], 0);
|
|
mj_deleteModel(model);
|
|
|
|
mjsSensor* s = mjs_asSensor(mjs_findElement(spec, mjOBJ_SENSOR, "dummy"));
|
|
s->intprm[0] = 3;
|
|
s->intprm[1] = 4;
|
|
s->intprm[2] = 5;
|
|
model = mj_compile(spec, nullptr);
|
|
EXPECT_EQ(model->sensor_intprm[0], 3);
|
|
EXPECT_EQ(model->sensor_intprm[1], 4);
|
|
EXPECT_EQ(model->sensor_intprm[2], 5);
|
|
mj_deleteModel(model);
|
|
mj_deleteSpec(spec);
|
|
}
|
|
|
|
// test sequential collision sensors
|
|
TEST_F(SensorTest, CollisionSequential) {
|
|
constexpr char xml[] = R"(
|
|
<mujoco>
|
|
<worldbody>
|
|
<geom name="plane" type="plane" size="1 1 1"/>
|
|
<geom name="sphere1" pos="0 0 1" size="0.2"/>
|
|
<geom name="sphere2" pos="1 0 1" size="0.3"/>
|
|
</worldbody>
|
|
<sensor>
|
|
<distance name="0" geom1="plane" geom2="sphere1" cutoff="1"/>
|
|
<distance name="1" geom1="sphere2" geom2="plane" cutoff="1"/>
|
|
<distance name="2" geom1="sphere1" geom2="sphere2" cutoff="1"/>
|
|
<normal name="3" geom1="plane" geom2="sphere1" cutoff="1"/>
|
|
<normal name="4" geom1="sphere2" geom2="plane" cutoff="1"/>
|
|
<normal name="5" geom1="sphere1" geom2="sphere2" cutoff="1"/>
|
|
<fromto name="6" geom1="plane" geom2="sphere1" cutoff="1"/>
|
|
<fromto name="7" geom1="sphere2" geom2="plane" cutoff="1"/>
|
|
<fromto name="8" geom1="sphere1" geom2="sphere2" cutoff="1"/>
|
|
<!-- sequential sensors with identical signature -->
|
|
<distance name="9" geom1="plane" geom2="sphere1" cutoff="1"/>
|
|
<fromto name="10" geom1="plane" geom2="sphere1" cutoff="1"/>
|
|
<normal name="11" geom1="plane" geom2="sphere1" cutoff="1"/>
|
|
<normal name="12" geom1="sphere1" geom2="sphere2" cutoff="1"/>
|
|
<fromto name="13" geom1="sphere1" geom2="sphere2" cutoff="1"/>
|
|
<distance name="14" geom1="sphere1" geom2="sphere2" cutoff="1"/>
|
|
|
|
</sensor>
|
|
</mujoco>
|
|
)";
|
|
mjModel* model = LoadModelFromString(xml);
|
|
mjData* data = mj_makeData(model);
|
|
mj_forward(model, data);
|
|
|
|
mjtNum eps = 1e-14;
|
|
EXPECT_NEAR(data->sensordata[0], 0.8, MjTol(eps, 1e-7));
|
|
EXPECT_NEAR(data->sensordata[1], 0.7, MjTol(eps, 1e-7));
|
|
EXPECT_NEAR(data->sensordata[2], 0.5, MjTol(eps, 1e-7));
|
|
|
|
EXPECT_THAT(GetSensor(model, data, 3),
|
|
Pointwise(MjNear(eps, 1e-7), vector<mjtNum>{0, 0, 1}));
|
|
EXPECT_THAT(GetSensor(model, data, 4),
|
|
Pointwise(MjNear(eps, 1e-7), vector<mjtNum>{0, 0, -1}));
|
|
EXPECT_THAT(GetSensor(model, data, 5),
|
|
Pointwise(MjNear(eps, 1e-7), vector<mjtNum>{1, 0, 0}));
|
|
EXPECT_THAT(GetSensor(model, data, 6),
|
|
Pointwise(MjNear(eps, 1e-6),
|
|
vector<mjtNum>{0, 0, 0, 0, 0, .8}));
|
|
EXPECT_THAT(GetSensor(model, data, 7),
|
|
Pointwise(MjNear(eps, 1e-6),
|
|
vector<mjtNum>{1, 0, .7, 1, 0, 0}));
|
|
EXPECT_THAT(GetSensor(model, data, 8),
|
|
Pointwise(MjNear(eps, 1e-6),
|
|
vector<mjtNum>{.2, 0, 1, .7, 0, 1}));
|
|
|
|
EXPECT_THAT(GetSensor(model, data, 9),
|
|
Pointwise(MjNear(eps, 1e-7), GetSensor(model, data, 0)));
|
|
EXPECT_THAT(GetSensor(model, data, 10),
|
|
Pointwise(MjNear(eps, 1e-6), GetSensor(model, data, 6)));
|
|
EXPECT_THAT(GetSensor(model, data, 11),
|
|
Pointwise(MjNear(eps, 1e-7), GetSensor(model, data, 3)));
|
|
EXPECT_THAT(GetSensor(model, data, 12),
|
|
Pointwise(MjNear(eps, 1e-7), GetSensor(model, data, 5)));
|
|
EXPECT_THAT(GetSensor(model, data, 13),
|
|
Pointwise(MjNear(eps, 1e-6), GetSensor(model, data, 8)));
|
|
EXPECT_THAT(GetSensor(model, data, 14),
|
|
Pointwise(MjNear(eps, 1e-7), GetSensor(model, data, 2)));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(SensorTest, BadContact) {
|
|
string xml_template = R"(
|
|
<mujoco>
|
|
<worldbody>
|
|
<geom name="sphere1" pos="0 0 1" size="0.2"/>
|
|
<body name="body">
|
|
<freejoint/>
|
|
<geom name="sphere2" pos="1 0 1" size="0.3"/>
|
|
<site name="site" pos="1 0 1" size="0.3"/>
|
|
<body name="non_root">
|
|
<geom name="sphere3" pos="1 0 1" size="0.3"/>
|
|
</body>
|
|
</body>
|
|
</worldbody>
|
|
<sensor>
|
|
<contact BAD_ATTR/>
|
|
</sensor>
|
|
</mujoco>
|
|
)";
|
|
|
|
struct Case {
|
|
string bad_attr;
|
|
string expected_error;
|
|
};
|
|
|
|
Case test_cases[] = {
|
|
{"geom1='sphere1' geom2='sphere2' data='dist force normal'",
|
|
"must be in order: found, force, torque, dist, pos, normal, tangent"},
|
|
{"geom1='sphere1' geom2='sphere2' num='-3'",
|
|
"'num' must be positive in sensor"},
|
|
{"geom1='sphere1' geom2='sphere2' site='site'",
|
|
"at most one of (geom1, body1, subtree1, site) can be specified"},
|
|
{"geom2='sphere1' body2='body'",
|
|
"at most one of (geom2, body2, subtree2) can be specified"},
|
|
};
|
|
|
|
for (const auto& test : test_cases) {
|
|
string xml = xml_template;
|
|
size_t pos = xml.find("BAD_ATTR");
|
|
ASSERT_NE(pos, string::npos);
|
|
xml.replace(pos, 8, test.bad_attr);
|
|
|
|
char error[1024];
|
|
mjModel* model = LoadModelFromString(xml.c_str(), error, sizeof(error));
|
|
ASSERT_THAT(model, IsNull()) << "Test case: " << test.bad_attr;
|
|
EXPECT_THAT(error, HasSubstr(test.expected_error))
|
|
<< "Test case: " << test.bad_attr;
|
|
}
|
|
}
|
|
|
|
TEST_F(SensorTest, Contact) {
|
|
const string xml_path =
|
|
GetTestDataFilePath("engine/testdata/sensor/contact.xml");
|
|
char error[1024];
|
|
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
|
|
ASSERT_THAT(model, NotNull()) << error;
|
|
|
|
mjData* data = mj_makeData(model);
|
|
|
|
for (mjtCone cone : {mjCONE_PYRAMIDAL, mjCONE_ELLIPTIC}) {
|
|
model->opt.cone = cone;
|
|
|
|
mj_resetData(model, data);
|
|
while (data->time < 2) {
|
|
mj_step(model, data);
|
|
}
|
|
|
|
vector all = GetSensor(model, data, "all");
|
|
EXPECT_EQ(all, vector<mjtNum>{4});
|
|
|
|
vector world = GetSensor(model, data, "world");
|
|
EXPECT_EQ(world, vector<mjtNum>{3});
|
|
|
|
vector b1 = GetSensor(model, data, "b1");
|
|
EXPECT_EQ(b1, vector<mjtNum>{3});
|
|
|
|
vector g1 = GetSensor(model, data, "g1");
|
|
EXPECT_EQ(g1, vector<mjtNum>{3});
|
|
|
|
vector b1g2 = GetSensor(model, data, "b1:g2");
|
|
EXPECT_EQ(b1g2, vector<mjtNum>{1});
|
|
|
|
vector b1world = GetSensor(model, data, "b1:world");
|
|
EXPECT_EQ(b1world, vector<mjtNum>{2});
|
|
|
|
vector site = GetSensor(model, data, "site");
|
|
EXPECT_EQ(site, vector<mjtNum>{2});
|
|
|
|
vector sitewall = GetSensor(model, data, "site:wall");
|
|
EXPECT_EQ(sitewall, vector<mjtNum>{1});
|
|
|
|
vector wall = GetSensor(model, data, "wall");
|
|
EXPECT_THAT(wall, Pointwise(MjNear(1e-4, 0.02),
|
|
{1, 8, 0, 0, -1, 0, 0, 0, 0, 0, 0, 0, 0, 0}));
|
|
|
|
// normals points *away* from b2 (towards floor / b1)
|
|
vector b2 = GetSensor(model, data, "b2");
|
|
EXPECT_THAT(b2, Pointwise(MjNear(1e-4, 0.02),
|
|
{3, 0, 0, 0, 0, -1, 4, 0, 0, 1, 0, 0}));
|
|
|
|
// normal points *towards* b2
|
|
vector b2f = GetSensor(model, data, "b2_flipped");
|
|
EXPECT_THAT(b2f, Pointwise(MjNear(1e-4, 0.02),
|
|
{3, 0, 0, 0, 0, 1, 4, 0, 0, -1, 0, 0}));
|
|
|
|
vector b2r = GetSensor(model, data, "b2_reduced");
|
|
EXPECT_THAT(b2r,
|
|
Pointwise(MjNear(1e-4, 0.02), {4, 0, 0, -1, 0, 0}));
|
|
}
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(SensorTest, ContactSorted) {
|
|
const string xml_path =
|
|
GetTestDataFilePath("engine/testdata/sensor/contact_sorted.xml");
|
|
char error[1024];
|
|
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
|
|
ASSERT_THAT(model, NotNull()) << error;
|
|
|
|
mjData* data = mj_makeData(model);
|
|
while (data->time < .5) {
|
|
mj_step(model, data);
|
|
}
|
|
|
|
vector unsorted = GetSensor(model, data, "unsorted");
|
|
EXPECT_THAT(unsorted, SizeIs(4));
|
|
EXPECT_THAT(unsorted, Not(WhenSorted(ElementsAreArray(unsorted))));
|
|
|
|
vector sorted = GetSensor(model, data, "sorted dist");
|
|
EXPECT_THAT(sorted, SizeIs(4));
|
|
EXPECT_THAT(sorted, WhenSorted(ElementsAreArray(sorted)));
|
|
|
|
vector sorted_force = GetSensor(model, data, "sorted force");
|
|
EXPECT_THAT(sorted_force, SizeIs(12));
|
|
vector<mjtNum> nnorms;
|
|
for (size_t i = 0; i < sorted_force.size(); i += 3) {
|
|
nnorms.push_back(-sorted_force[i]*sorted_force[i] +
|
|
-sorted_force[i+1]*sorted_force[i+1] +
|
|
-sorted_force[i+2]*sorted_force[i+2]);
|
|
}
|
|
EXPECT_THAT(nnorms, WhenSorted(ElementsAreArray(nnorms)));
|
|
|
|
vector smallest = GetSensor(model, data, "smallest dist");
|
|
EXPECT_THAT(smallest, SizeIs(1));
|
|
EXPECT_EQ(smallest[0], sorted[0]);
|
|
|
|
vector largest = GetSensor(model, data, "largest force");
|
|
EXPECT_THAT(largest, SizeIs(3));
|
|
EXPECT_THAT(largest, ElementsAre(sorted_force[0],
|
|
sorted_force[1],
|
|
sorted_force[2]));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(SensorTest, ContactSubtree) {
|
|
const string xml_path =
|
|
GetTestDataFilePath("engine/testdata/sensor/contact_subtree.xml");
|
|
char error[1024];
|
|
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
|
|
ASSERT_THAT(model, NotNull()) << error;
|
|
|
|
mjData* data = mj_makeData(model);
|
|
|
|
while (data->time < 0.2) {
|
|
mj_step(model, data);
|
|
|
|
int all = GetSensor(model, data, "all")[0];
|
|
int w_t1 = GetSensor(model, data, "w_t1")[0];
|
|
int w_t2 = GetSensor(model, data, "w_t2")[0];
|
|
int t1 = GetSensor(model, data, "t1")[0];
|
|
int t2 = GetSensor(model, data, "t2")[0];
|
|
int t1_t1 = GetSensor(model, data, "t1_t1")[0];
|
|
int t2_t2 = GetSensor(model, data, "t2_t2")[0];
|
|
int t1_t2 = GetSensor(model, data, "t1_t2")[0];
|
|
int t2_t1 = GetSensor(model, data, "t2_t1")[0];
|
|
|
|
// compute the number of first tree contacts in two different ways
|
|
EXPECT_EQ(t1, w_t1 + t1_t1 + t1_t2);
|
|
|
|
// compute the number of second tree contacts in two different ways
|
|
EXPECT_EQ(t2, w_t2 + t2_t2 + t2_t1);
|
|
|
|
// compute the number of all contacts in two different ways
|
|
EXPECT_EQ(all, w_t1 + w_t2 + t1_t1 + t2_t2 + t1_t2);
|
|
}
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(SensorTest, ContactSubtreePartial) {
|
|
const string xml_path =
|
|
GetTestDataFilePath("engine/testdata/sensor/contact_subtree_partial.xml");
|
|
char error[1024];
|
|
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
|
|
ASSERT_THAT(model, NotNull()) << error;
|
|
|
|
mjData* data = mj_makeData(model);
|
|
|
|
while (data->time < 0.6) {
|
|
mj_step(model, data);
|
|
}
|
|
|
|
EXPECT_EQ(GetSensor(model, data, "all")[0], 4);
|
|
EXPECT_EQ(GetSensor(model, data, "world")[0], 4);
|
|
EXPECT_EQ(GetSensor(model, data, "thigh")[0], 4);
|
|
EXPECT_EQ(GetSensor(model, data, "shin")[0], 2);
|
|
EXPECT_EQ(GetSensor(model, data, "foot")[0], 1);
|
|
EXPECT_EQ(GetSensor(model, data, "foot_w")[0], 0);
|
|
EXPECT_EQ(GetSensor(model, data, "foot_w2")[0], 1);
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(SensorTest, ContactNet) {
|
|
const string xml_path =
|
|
GetTestDataFilePath("engine/testdata/sensor/contact_net.xml");
|
|
char error[1024];
|
|
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
|
|
ASSERT_THAT(model, NotNull()) << error;
|
|
int b1 = mj_name2id(model, mjOBJ_BODY, "b1");
|
|
int b2 = mj_name2id(model, mjOBJ_BODY, "b2");
|
|
int nv = model->nv;
|
|
|
|
mjData* data = mj_makeData(model);
|
|
|
|
for (mjtCone cone : {mjCONE_PYRAMIDAL, mjCONE_ELLIPTIC}) {
|
|
model->opt.cone = cone;
|
|
mj_resetData(model, data);
|
|
|
|
// for each timestep, compare the net force computation to qfrc_constraint
|
|
// data->ncon varies in [0, 6]
|
|
int nconmax = 0;
|
|
while (data->time < 0.2) {
|
|
mj_step(model, data);
|
|
vector<mjtNum> qfrc_expected = AsVector(data->qfrc_constraint, nv);
|
|
|
|
// check net force, sensor returns body1 -> body2
|
|
vector net12 = GetSensor(model, data, "net12");
|
|
EXPECT_EQ(net12.size(), 9);
|
|
mjtNum* force = net12.data();
|
|
mjtNum* torque = net12.data() + 3;
|
|
mjtNum* point = net12.data() + 6;
|
|
|
|
// apply wrench to b2
|
|
vector<mjtNum> qfrc(nv, 0.0);
|
|
mj_applyFT(model, data, force, torque, point, b2, qfrc.data());
|
|
|
|
// apply opposite wrench to b1
|
|
mju_scl3(force, force, -1);
|
|
mju_scl3(torque, torque, -1);
|
|
mj_applyFT(model, data, force, torque, point, b1, qfrc.data());
|
|
|
|
// compare
|
|
EXPECT_THAT(qfrc, Pointwise(MjNear(1e-6, 1e-4), qfrc_expected));
|
|
|
|
// check net force, sensor returns body2 -> body1
|
|
vector net21 = GetSensor(model, data, "net21");
|
|
EXPECT_EQ(net21.size(), 9);
|
|
force = net21.data();
|
|
torque = net21.data() + 3;
|
|
point = net21.data() + 6;
|
|
qfrc.assign(nv, 0.0);
|
|
|
|
// apply wrench to b1
|
|
mj_applyFT(model, data, force, torque, point, b1, qfrc.data());
|
|
|
|
// apply opposite wrench to b2
|
|
mju_scl3(force, force, -1);
|
|
mju_scl3(torque, torque, -1);
|
|
mj_applyFT(model, data, force, torque, point, b2, qfrc.data());
|
|
|
|
// compare
|
|
EXPECT_THAT(qfrc, Pointwise(MjNear(1e-6, 1e-4), qfrc_expected));
|
|
|
|
nconmax = std::max(nconmax, data->ncon);
|
|
}
|
|
|
|
// at least 5 contacts happened
|
|
EXPECT_GT(nconmax, 4);
|
|
}
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(SensorTest, CameraProjection) {
|
|
constexpr char xml[] = R"(
|
|
<mujoco>
|
|
<worldbody>
|
|
<body pos="1.1 0 1">
|
|
<geom type="box" size=".1 .6 .375"/>
|
|
<site name="frontorigin" pos="-.1 .6 .375"/>
|
|
<site name="frontcorner" pos="-.1 -.6 -.375"/>
|
|
</body>
|
|
<body pos="-1.1 0 1">
|
|
<geom type="box" size=".1 .6 .375"/>
|
|
<site name="backcenter" pos="-.1 0 0"/>
|
|
</body>
|
|
<camera pos="0 0 1" xyaxes="0 -1 0 0 0 1" fovy="41.11209"
|
|
resolution="1920 1200" name="fixedcamera"/>
|
|
</worldbody>
|
|
<sensor>
|
|
<camprojection site="frontorigin" camera="fixedcamera"/>
|
|
<camprojection site="frontcorner" camera="fixedcamera"/>
|
|
<camprojection site="backcenter" camera="fixedcamera"/>
|
|
</sensor>
|
|
</mujoco>
|
|
)";
|
|
mjModel* model = LoadModelFromString(xml);
|
|
mjData* data = mj_makeData(model);
|
|
|
|
// call step to update sensors
|
|
mj_step(model, data);
|
|
mj_step1(model, data); // update values of position-based sensors
|
|
EXPECT_THAT(model->cam_resolution[0], 1920);
|
|
EXPECT_THAT(model->cam_resolution[1], 1200);
|
|
mjtNum eps = 1e-4;
|
|
EXPECT_NEAR(data->sensordata[0], 0, eps);
|
|
EXPECT_NEAR(data->sensordata[1], 0, eps);
|
|
EXPECT_NEAR(data->sensordata[2], 1920, eps);
|
|
EXPECT_NEAR(data->sensordata[3], 1200, eps);
|
|
EXPECT_NEAR(data->sensordata[4], 960, eps);
|
|
EXPECT_NEAR(data->sensordata[5], 600, eps);
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(SensorTest, InsideSite) {
|
|
constexpr char xml[] = R"(
|
|
<mujoco>
|
|
<worldbody>
|
|
<body pos="0 0 1">
|
|
<joint type="slide" axis="1 0 0" range="-.75 .75"/>
|
|
<geom name="query" type="sphere" size=".01" rgba="1 0 0 1"/>
|
|
</body>
|
|
|
|
<site name="sphere" type="sphere" size=".11" pos="-.5 0 1"/>
|
|
<site name="capsule" type="capsule" size=".08 .15" euler="20 -40 60" pos="-.25 0 1"/>
|
|
<site name="ellipsoid" type="ellipsoid" size=".11 .15 .09" euler="20 40 -60" pos="0 0 1"/>
|
|
<site name="cylinder" type="cylinder" size=".09 .12" euler="-20 40 60" pos=".25 0 1"/>
|
|
<site name="box" type="box" size=".08 .1 .14" euler="20 -40 60" pos=".5 0 1"/>
|
|
</worldbody>
|
|
|
|
<sensor>
|
|
<insidesite name="sphere" site="sphere" objtype="geom" objname="query"/>
|
|
<insidesite name="capsule" site="capsule" objtype="geom" objname="query"/>
|
|
<insidesite name="ellipsoid" site="ellipsoid" objtype="geom" objname="query"/>
|
|
<insidesite name="cylinder" site="cylinder" objtype="geom" objname="query"/>
|
|
<insidesite name="box" site="box" objtype="geom" objname="query"/>
|
|
</sensor>
|
|
</mujoco>
|
|
)";
|
|
char error[1024];
|
|
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
|
|
ASSERT_THAT(model, NotNull()) << error;
|
|
ASSERT_EQ(model->nsensordata, 5);
|
|
mjData* data = mj_makeData(model);
|
|
|
|
mjtNum hpos[5] = {-.5, -.25, 0, .25, .5};
|
|
for (int i = 0; i < 5; i++) {
|
|
data->qpos[0] = hpos[i];
|
|
mj_forward(model, data);
|
|
vector<mjtNum> expected(5, 0.0);
|
|
expected[i] = 1.0;
|
|
EXPECT_EQ(AsVector(data->sensordata, model->nsensordata), expected);
|
|
}
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(SensorTest, RangefinderCamera) {
|
|
constexpr char xml[] = R"(
|
|
<mujoco>
|
|
<worldbody>
|
|
<geom type="plane" size="10 10 .1"/>
|
|
<body pos="0 0 2">
|
|
<camera name="persp" xyaxes="1 0 0 0 1 0" resolution="3 3" fovy="90"/>
|
|
<camera name="ortho" euler="0 45 0" resolution="3 3"
|
|
projection="orthographic" fovy="2"/>
|
|
</body>
|
|
</worldbody>
|
|
|
|
<sensor>
|
|
<rangefinder camera="persp" data="dist depth"/>
|
|
<rangefinder camera="ortho" data="dist dir origin point"/>
|
|
</sensor>
|
|
</mujoco>
|
|
)";
|
|
char error[1024];
|
|
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
|
|
ASSERT_THAT(model, NotNull()) << error;
|
|
|
|
// first sensor: data="dist depth" => (1+1)*9 = 18
|
|
// second sensor: data="dist dir origin point" => (1+3+3+3)*9 = 90
|
|
EXPECT_EQ(model->nsensordata, 108);
|
|
|
|
mjData* data = mj_makeData(model);
|
|
mj_forward(model, data);
|
|
|
|
mjtNum tol = 1e-6;
|
|
mjtNum height = 2.0;
|
|
mjtNum fy = 1.5;
|
|
mjtNum offsets[3] = {-1.0, 0.0, 1.0}; // pixel center - principal point
|
|
|
|
// test 1: perspective camera - rays diverge, distance varies with angle
|
|
int adr0 = model->sensor_adr[0];
|
|
constexpr int stride0 = 2; // dist(1) + depth(1)
|
|
for (int row = 0; row < 3; row++) {
|
|
for (int col = 0; col < 3; col++) {
|
|
int idx = row * 3 + col;
|
|
mjtNum dx = offsets[col] / fy;
|
|
mjtNum dy = offsets[row] / fy;
|
|
mjtNum expected_dist = height * mju_sqrt(1 + dx*dx + dy*dy);
|
|
mjtNum dist = data->sensordata[adr0 + idx*stride0];
|
|
EXPECT_NEAR(dist, expected_dist, tol)
|
|
<< "perspective dist pixel (" << row << ", " << col << ")";
|
|
|
|
// depth should equal camera height (2.0) for all pixels
|
|
mjtNum depth = data->sensordata[adr0 + idx*stride0 + 1];
|
|
EXPECT_NEAR(depth, height, tol)
|
|
<< "perspective depth pixel (" << row << ", " << col << ")";
|
|
}
|
|
}
|
|
|
|
// test 2: orthographic camera distance - tilted 45 degrees around Y axis
|
|
mjtNum extent = 2.0; // fovy for orthographic
|
|
mjtNum half_extent = extent / 2;
|
|
mjtNum fx = 1.5; // width / 2 for 3x3 image
|
|
mjtNum cx = 1.5; // principal point
|
|
mjtNum cos45 = mju_sqrt(0.5);
|
|
mjtNum sin45 = mju_sqrt(0.5);
|
|
int adr1 = model->sensor_adr[1];
|
|
constexpr int stride1 = 10; // dist(1) + dir(3) + origin(3) + point(3)
|
|
for (int row = 0; row < 3; row++) {
|
|
for (int col = 0; col < 3; col++) {
|
|
int idx = row * 3 + col;
|
|
|
|
// pixel offset in camera frame: matches mju_camPixelRay formula
|
|
mjtNum px_cam = (col + 0.5 - cx) / fx * half_extent;
|
|
|
|
// camera tilted 45 around Y: local +X maps to world (+cos45, 0, -sin45)
|
|
mjtNum origin_z = height - px_cam * sin45;
|
|
|
|
// ray hits z=0 plane: distance = origin_z / cos45
|
|
mjtNum expected_dist = origin_z / cos45;
|
|
mjtNum dist = data->sensordata[adr1 + idx*stride1];
|
|
EXPECT_NEAR(dist, expected_dist, tol)
|
|
<< "orthographic dist pixel (" << row << ", " << col << ")";
|
|
|
|
// verify point = origin + dir * dist
|
|
mjtNum* dir = data->sensordata + adr1 + idx*stride1 + 1;
|
|
mjtNum* origin = data->sensordata + adr1 + idx*stride1 + 4;
|
|
mjtNum* point = data->sensordata + adr1 + idx*stride1 + 7;
|
|
mjtNum expected_point[3];
|
|
mju_addScl3(expected_point, origin, dir, dist);
|
|
EXPECT_NEAR(point[0], expected_point[0], tol)
|
|
<< "ortho point[0] pixel (" << row << ", " << col << ")";
|
|
EXPECT_NEAR(point[1], expected_point[1], tol)
|
|
<< "ortho point[1] pixel (" << row << ", " << col << ")";
|
|
EXPECT_NEAR(point[2], expected_point[2], tol)
|
|
<< "ortho point[2] pixel (" << row << ", " << col << ")";
|
|
}
|
|
}
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(SensorTest, RFCamera) {
|
|
const string xml_path =
|
|
GetTestDataFilePath("engine/testdata/sensor/rfcamera.xml");
|
|
char error[1024];
|
|
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
|
|
ASSERT_THAT(model, NotNull()) << error;
|
|
|
|
// both sensors have data="dist point normal" => (1+3+3)*16 = 112
|
|
ASSERT_EQ(model->nsensor, 2);
|
|
EXPECT_EQ(model->sensor_dim[0], 112);
|
|
EXPECT_EQ(model->sensor_dim[1], 112);
|
|
|
|
mjData* data = mj_makeData(model);
|
|
mj_step(model, data);
|
|
|
|
// check both sensors: dist, point, normal
|
|
constexpr int stride = 7; // dist(1) + point(3) + normal(3)
|
|
for (int s = 0; s < 2; s++) {
|
|
int adr = model->sensor_adr[s];
|
|
for (int i = 0; i < 16; i++) {
|
|
mjtNum dist = data->sensordata[adr + i*stride];
|
|
mjtNum* point = data->sensordata + adr + i*stride + 1;
|
|
mjtNum* normal = data->sensordata + adr + i*stride + 4;
|
|
|
|
EXPECT_TRUE(dist > 0 || dist == -1) << "sensor " << s << " pixel " << i;
|
|
|
|
if (dist > 0) {
|
|
EXPECT_GT(mju_norm3(point), 0.0) << "sensor " << s << " point " << i;
|
|
EXPECT_NEAR(mju_norm3(normal), 1.0, 1e-6)
|
|
<< "sensor " << s << " normal " << i;
|
|
} else {
|
|
EXPECT_NEAR(mju_norm3(point), 0.0, 1e-6)
|
|
<< "sensor " << s << " point " << i;
|
|
EXPECT_NEAR(mju_norm3(normal), 0.0, 1e-6)
|
|
<< "sensor " << s << " normal " << i;
|
|
}
|
|
}
|
|
}
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
// ------------------------------- sensor delays -------------------------------
|
|
|
|
TEST_F(SensorTest, SensorDelay) {
|
|
constexpr char xml[] = R"(
|
|
<mujoco>
|
|
<option timestep="0.01" gravity="0 0 0"/>
|
|
<worldbody>
|
|
<body>
|
|
<joint name="slide" type="slide"/>
|
|
<geom size="0.1"/>
|
|
</body>
|
|
</worldbody>
|
|
<sensor>
|
|
<jointpos joint="slide" delay="0.02" nsample="3"/>
|
|
</sensor>
|
|
</mujoco>
|
|
)";
|
|
char error[1024];
|
|
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
|
|
ASSERT_THAT(model, NotNull()) << error;
|
|
mjData* data = mj_makeData(model);
|
|
|
|
// delay = 0.02 seconds, timestep = 0.01
|
|
// history = 3 (more than delay/timestep=2) to ensure buffer coverage
|
|
EXPECT_EQ(model->sensor_history[0], 3);
|
|
EXPECT_NEAR(model->sensor_delay[0], 0.02, MjTol(1e-10, 1e-7));
|
|
|
|
// Use different values to verify exact delay timing.
|
|
// With delay=0.02 and timestep=0.01, we expect 2-step delay:
|
|
// - At step N, sensordata should reflect qpos from step N-2.
|
|
|
|
// step 0: qpos=10, read from initial buffer
|
|
data->qpos[0] = 10.0;
|
|
mj_step(model, data);
|
|
EXPECT_NEAR(data->sensordata[0], 0.0, 1e-10) << "step 0";
|
|
|
|
// step 1: qpos=20, still reading initial buffer
|
|
data->qpos[0] = 20.0;
|
|
mj_step(model, data);
|
|
EXPECT_NEAR(data->sensordata[0], 0.0, 1e-10) << "step 1";
|
|
|
|
// step 2: qpos=30, read value from step 0 (delay=2 steps)
|
|
data->qpos[0] = 30.0;
|
|
mj_step(model, data);
|
|
EXPECT_NEAR(data->sensordata[0], 10.0, 1e-10) << "step 2";
|
|
|
|
// step 3: qpos=40, read value from step 1 (delay=2 steps)
|
|
data->qpos[0] = 40.0;
|
|
mj_step(model, data);
|
|
EXPECT_NEAR(data->sensordata[0], 20.0, 1e-10) << "step 3";
|
|
|
|
// step 4: qpos=50, read value from step 2 (delay=2 steps)
|
|
data->qpos[0] = 50.0;
|
|
mj_step(model, data);
|
|
EXPECT_NEAR(data->sensordata[0], 30.0, 1e-10) << "step 4";
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
// Test sensor delay with linear interpolation (interp=1)
|
|
// Uses delay = 1.5*timestep so interpolation is meaningful
|
|
TEST_F(SensorTest, SensorDelayLinearInterp) {
|
|
constexpr char xml[] = R"(
|
|
<mujoco>
|
|
<option timestep="0.01" gravity="0 0 0"/>
|
|
<worldbody>
|
|
<body>
|
|
<joint name="slide" type="slide"/>
|
|
<geom size="0.1"/>
|
|
</body>
|
|
</worldbody>
|
|
<sensor>
|
|
<jointpos joint="slide" delay="0.015" nsample="3" interp="linear"/>
|
|
</sensor>
|
|
</mujoco>
|
|
)";
|
|
char error[1024];
|
|
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
|
|
ASSERT_THAT(model, NotNull()) << error;
|
|
mjData* data = mj_makeData(model);
|
|
|
|
// delay = 0.015 seconds = 1.5*timestep, nsample=3, interp=1 (linear)
|
|
// With linear interpolation and 1.5*timestep delay, the read time falls
|
|
// exactly between two buffer samples, so we should get the average.
|
|
EXPECT_EQ(model->sensor_history[0], 3);
|
|
EXPECT_EQ(model->sensor_history[1], 1); // interp=1 (linear)
|
|
EXPECT_NEAR(model->sensor_delay[0], 0.015, MjTol(1e-10, 1e-7));
|
|
|
|
// Set increasing qpos values: step i -> qpos = (i+1)*10
|
|
// Buffer has samples at times: -0.02, -0.01, 0 (initialized)
|
|
// After step 0 at time=0.01: buffer has times -0.01, 0, 0.01 with values 0, 0, 10
|
|
// Read at time 0.01 - 0.015 = -0.005: interpolate between t=-0.01 (val=0) and t=0 (val=0)
|
|
// Expected: 0 * 0.5 + 0 * 0.5 = 0
|
|
|
|
data->qpos[0] = 10.0;
|
|
mj_step(model, data);
|
|
EXPECT_NEAR(data->sensordata[0], 0.0, 1e-10) << "step 0";
|
|
|
|
// After step 1 at time=0.02: buffer has times 0, 0.01, 0.02 with values 0, 10, 20
|
|
// Read at time 0.02 - 0.015 = 0.005: interpolate between t=0 (val=0) and t=0.01 (val=10)
|
|
// Expected: 0 * 0.5 + 10 * 0.5 = 5
|
|
|
|
data->qpos[0] = 20.0;
|
|
mj_step(model, data);
|
|
EXPECT_NEAR(data->sensordata[0], 5.0, 1e-10) << "step 1";
|
|
|
|
// After step 2 at time=0.03: buffer has times 0.01, 0.02, 0.03 with values 10, 20, 30
|
|
// Read at 0.03 - 0.015 = 0.015: interpolate between t=0.01 (val=10) and t=0.02 (val=20)
|
|
// Expected: 10 * 0.5 + 20 * 0.5 = 15
|
|
|
|
data->qpos[0] = 30.0;
|
|
mj_step(model, data);
|
|
EXPECT_NEAR(data->sensordata[0], 15.0, 1e-10) << "step 2";
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(SensorTest, SensorInterval) {
|
|
// This test uses the exact values from the documentation for interval:
|
|
// timestep=1, interval=2.5, producing times 0, 3, 5, 8, 10, 13, ...
|
|
// with interval="2.5 -1.5", producing times 1, 4, 6, 9, 11, 14, ...
|
|
constexpr char xml[] = R"(
|
|
<mujoco>
|
|
<option timestep="1" gravity="0 0 0"/>
|
|
<worldbody>
|
|
<body>
|
|
<joint name="slide" type="slide"/>
|
|
<geom size="0.1"/>
|
|
</body>
|
|
</worldbody>
|
|
<sensor>
|
|
<jointpos name="default_phase" joint="slide" interval="2.5 0" nsample="10"/>
|
|
<jointpos name="offset_phase" joint="slide" interval="2.5 -1.5" nsample="10"/>
|
|
</sensor>
|
|
</mujoco>
|
|
)";
|
|
char error[1024];
|
|
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
|
|
ASSERT_THAT(model, NotNull()) << error;
|
|
mjData* data = mj_makeData(model);
|
|
|
|
int sensor0 = mj_name2id(model, mjOBJ_SENSOR, "default_phase");
|
|
int sensor1 = mj_name2id(model, mjOBJ_SENSOR, "offset_phase");
|
|
int adr0 = model->sensor_adr[sensor0];
|
|
int adr1 = model->sensor_adr[sensor1];
|
|
|
|
// Verify initial buffer timestamps (after mj_makeData/mj_resetData)
|
|
// With period=2.5, dt=1.0, nsample=10:
|
|
// sensor0 (phase = -period = -2.5): continuous times are -2.5, -5, -7.5, ...
|
|
// rounded up to dt: -2, -5, -7, -10, -12, -15, -17, -20, -22, -25
|
|
// sensor1 (phase = -1.5): continuous times are -1.5, -4, -6.5, ...
|
|
// rounded up to dt: -1, -4, -6, -9, -11, -14, -16, -19, -21, -24
|
|
int n0 = model->sensor_history[2*sensor0];
|
|
int n1 = model->sensor_history[2*sensor1];
|
|
mjtNum* buf0 = data->history + model->sensor_historyadr[sensor0];
|
|
mjtNum* buf1 = data->history + model->sensor_historyadr[sensor1];
|
|
mjtNum* times0 = buf0 + 2;
|
|
mjtNum* times1 = buf1 + 2;
|
|
mjtNum expected_times0[] = {-25, -22, -20, -17, -15, -12, -10, -7, -5, -2};
|
|
mjtNum expected_times1[] = {-24, -21, -19, -16, -14, -11, -9, -6, -4, -1};
|
|
for (int i = 0; i < n0; i++) {
|
|
EXPECT_NEAR(times0[i], expected_times0[i], 1e-10);
|
|
}
|
|
for (int i = 0; i < n1; i++) {
|
|
EXPECT_NEAR(times1[i], expected_times1[i], 1e-10);
|
|
}
|
|
|
|
// sensor0: interval="2.5 0" -> time_prev starts at -2.5
|
|
// triggers at: 0, 3, 5, 8, 10, 13, ... (gaps: 3,2,3,2,3,...)
|
|
// sensor1: interval="2.5 -1.5" -> time_prev starts at -1.5
|
|
// triggers at: 1, 4, 6, 9, 11, 14, ... (gaps: 3,2,3,2,3,...)
|
|
|
|
// Arrays tracking when each sensor triggers (1=triggers, 0=holds)
|
|
// Times: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14
|
|
int triggers0[] = {1, 0, 0, 1, 0, 1, 0, 0, 1, 0, 1, 0, 0, 1, 0};
|
|
int triggers1[] = {0, 1, 0, 0, 1, 0, 1, 0, 0, 1, 0, 1, 0, 0, 1};
|
|
|
|
mjtNum value0 = 0, value1 = 0;
|
|
for (int t = 0; t < 15; t++) {
|
|
// set position to current time (so we can track when sensor was computed)
|
|
data->qpos[0] = t;
|
|
mj_step(model, data);
|
|
|
|
// update expected values based on trigger pattern
|
|
if (triggers0[t]) value0 = t;
|
|
if (triggers1[t]) value1 = t;
|
|
|
|
EXPECT_NEAR(data->sensordata[adr0], value0, MjTol(1e-10, 1e-7))
|
|
<< "sensor0 at t=" << t;
|
|
EXPECT_NEAR(data->sensordata[adr1], value1, MjTol(1e-10, 1e-7))
|
|
<< "sensor1 at t=" << t;
|
|
}
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(SensorTest, SensorDelayInterval) {
|
|
constexpr char xml[] = R"(
|
|
<mujoco>
|
|
<option timestep="0.01" gravity="0 0 0"/>
|
|
<worldbody>
|
|
<body>
|
|
<joint name="slide" type="slide"/>
|
|
<geom size="0.1"/>
|
|
</body>
|
|
</worldbody>
|
|
<sensor>
|
|
<jointpos joint="slide" delay="0.02" interval="0.03 0" nsample="5"/>
|
|
</sensor>
|
|
</mujoco>
|
|
)";
|
|
char error[1024];
|
|
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
|
|
ASSERT_THAT(model, NotNull()) << error;
|
|
mjData* data = mj_makeData(model);
|
|
|
|
// Combined delay and interval
|
|
EXPECT_EQ(model->sensor_history[0], 5);
|
|
EXPECT_NEAR(model->sensor_delay[0], 0.02, MjTol(1e-10, 1e-7));
|
|
EXPECT_NEAR(model->sensor_interval[2*0], 0.03, MjTol(1e-10, 1e-7));
|
|
|
|
// Verify initial buffer timestamps (after mj_makeData/mj_resetData)
|
|
// With period=0.03, dt=0.01, nsample=5, phase=0 (means -period=-0.03):
|
|
// continuous times: -0.03, -0.06, -0.09, -0.12, -0.15
|
|
// rounded up to dt: -0.03, -0.06, -0.09, -0.12, -0.15 (multiples of dt)
|
|
int n = model->sensor_history[0];
|
|
mjtNum* buf = data->history + model->sensor_historyadr[0];
|
|
mjtNum* times = buf + 2;
|
|
mjtNum expected_times[] = {-0.15, -0.12, -0.09, -0.06, -0.03};
|
|
for (int i = 0; i < n; i++) {
|
|
EXPECT_NEAR(times[i], expected_times[i], MjTol(1e-10, 0.015));
|
|
}
|
|
|
|
// set position
|
|
data->qpos[0] = 5.0;
|
|
|
|
// initial steps: reading from buffer (initially 0)
|
|
// With delay=0.02, interval=0.03:
|
|
// - At t=0, interval satisfied: compute 5.0, insert at t=0 (current time)
|
|
// - Reading happens at d->time - delay; at t=0.02, reads at t=0.00 (5.0)
|
|
for (int i = 0; i < 2; i++) {
|
|
mj_step(model, data);
|
|
// sensor reads delayed value (0.0 from initial buffer)
|
|
EXPECT_NEAR(data->sensordata[0], 0.0, MjTol(1e-10, 1e-7)) << "step " << i;
|
|
}
|
|
|
|
// step 3 (i=2): reading at t=0.00 now returns the inserted value 5.0
|
|
mj_step(model, data);
|
|
EXPECT_NEAR(data->sensordata[0], 5.0, MjTol(1e-10, 1e-7));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(SensorTest, SensorHistoryOnly) {
|
|
constexpr char xml[] = R"(
|
|
<mujoco>
|
|
<option timestep="0.01"/>
|
|
<worldbody>
|
|
<body>
|
|
<joint name="slide" type="slide"/>
|
|
<geom size="0.1"/>
|
|
</body>
|
|
</worldbody>
|
|
<sensor>
|
|
<jointpos joint="slide" nsample="5"/>
|
|
</sensor>
|
|
</mujoco>
|
|
)";
|
|
char error[1024];
|
|
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
|
|
ASSERT_THAT(model, NotNull()) << error;
|
|
mjData* data = mj_makeData(model);
|
|
|
|
// history only, no delay or interval
|
|
EXPECT_EQ(model->sensor_history[0], 5);
|
|
EXPECT_NEAR(model->sensor_delay[0], 0.0, MjTol(1e-10, 1e-7));
|
|
EXPECT_NEAR(model->sensor_interval[2*0], 0.0, MjTol(1e-10, 1e-7));
|
|
|
|
// set position
|
|
data->qpos[0] = 3.0;
|
|
|
|
// without delay, sensordata reflects current value immediately
|
|
mj_step(model, data);
|
|
EXPECT_NEAR(data->sensordata[0], 3.0, 1e-10);
|
|
|
|
// change position, check again
|
|
data->qpos[0] = 7.0;
|
|
mj_step(model, data);
|
|
EXPECT_NEAR(data->sensordata[0], 7.0, 1e-10);
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(SensorTest, SensorDelayMultiDim) {
|
|
constexpr char xml[] = R"(
|
|
<mujoco>
|
|
<option timestep="0.01"/>
|
|
<worldbody>
|
|
<body>
|
|
<joint name="ball" type="ball"/>
|
|
<geom size="0.1"/>
|
|
</body>
|
|
</worldbody>
|
|
<sensor>
|
|
<ballangvel joint="ball" delay="0.02" nsample="2"/>
|
|
</sensor>
|
|
</mujoco>
|
|
)";
|
|
char error[1024];
|
|
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
|
|
ASSERT_THAT(model, NotNull()) << error;
|
|
mjData* data = mj_makeData(model);
|
|
|
|
// ballangvel is 3D
|
|
EXPECT_EQ(model->sensor_dim[0], 3);
|
|
EXPECT_EQ(model->sensor_history[0], 2);
|
|
|
|
// set angular velocity
|
|
data->qvel[0] = 1.0;
|
|
data->qvel[1] = 2.0;
|
|
data->qvel[2] = 3.0;
|
|
|
|
// step: reading delayed value (initially 0)
|
|
mj_step(model, data);
|
|
EXPECT_NEAR(data->sensordata[0], 0.0, 1e-10);
|
|
EXPECT_NEAR(data->sensordata[1], 0.0, 1e-10);
|
|
EXPECT_NEAR(data->sensordata[2], 0.0, 1e-10);
|
|
|
|
// after delay, values should propagate
|
|
mj_step(model, data);
|
|
mj_step(model, data);
|
|
mj_step(model, data);
|
|
// angular velocity is affected by dynamics, just check the buffer works
|
|
EXPECT_THAT(AsVector(data->sensordata, 3), Not(ElementsAre(0.0, 0.0, 0.0)));
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
TEST_F(SensorTest, ReadSensor) {
|
|
constexpr char xml[] = R"(
|
|
<mujoco>
|
|
<option timestep="0.01" gravity="0 0 0"/>
|
|
<worldbody>
|
|
<body>
|
|
<joint name="slide" type="slide"/>
|
|
<geom size="0.1"/>
|
|
</body>
|
|
</worldbody>
|
|
<sensor>
|
|
<jointpos joint="slide" nsample="5"/>
|
|
</sensor>
|
|
</mujoco>
|
|
)";
|
|
char error[1024];
|
|
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
|
|
ASSERT_THAT(model, NotNull()) << error;
|
|
mjData* data = mj_makeData(model);
|
|
|
|
// step with different qpos values to populate buffer
|
|
// mj_advance inserts at current time, then time advances
|
|
data->qpos[0] = 1.0;
|
|
mj_step(model, data); // inserts 1.0 at t=0, time -> 0.01
|
|
|
|
data->qpos[0] = 2.0;
|
|
mj_step(model, data); // inserts 2.0 at t=0.01, time -> 0.02
|
|
|
|
data->qpos[0] = 3.0;
|
|
mj_step(model, data); // inserts 3.0 at t=0.02, time -> 0.03
|
|
|
|
// now time=0.03, buffer has: [t=0: 1.0, t=0.01: 2.0, t=0.02: 3.0]
|
|
|
|
// read at different times from history
|
|
mjtNum result[1];
|
|
const mjtNum* ptr;
|
|
|
|
// read at t=0 -> returns 1.0
|
|
ptr = mj_readSensor(model, data, 0, 0.0, result, /*order=*/0);
|
|
EXPECT_NEAR(*ptr, 1.0, 1e-10);
|
|
|
|
// read at t=0.01 -> returns 2.0 (ZOH: exactly at insertion time)
|
|
ptr = mj_readSensor(model, data, 0, 0.01, result, /*order=*/0);
|
|
EXPECT_NEAR(*ptr, 2.0, 1e-10);
|
|
|
|
// read at t=0.02 -> returns 3.0
|
|
ptr = mj_readSensor(model, data, 0, 0.02, result, /*order=*/0);
|
|
EXPECT_NEAR(*ptr, 3.0, 1e-10);
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
// mj_sensorAcc returns correct accelerometer after mj_step1 (issue #3133)
|
|
TEST_F(SensorTest, AccelerometerAfterStep1) {
|
|
constexpr char xml[] = R"(
|
|
<mujoco>
|
|
<worldbody>
|
|
<geom type="plane" size="10 10 0.1"/>
|
|
<body pos="0 0 0.1">
|
|
<freejoint/>
|
|
<geom type="box" size="0.1 0.1 0.1" mass="10"/>
|
|
<site name="imu"/>
|
|
</body>
|
|
</worldbody>
|
|
<sensor>
|
|
<accelerometer site="imu"/>
|
|
</sensor>
|
|
</mujoco>
|
|
)";
|
|
mjModel* model = LoadModelFromString(xml);
|
|
mjData* data = mj_makeData(model);
|
|
|
|
// settle the simulation with split-step loop
|
|
for (int i = 0; i < 100; i++) {
|
|
mj_step1(model, data);
|
|
mj_step2(model, data);
|
|
}
|
|
|
|
// call mj_step1 + mj_sensorAcc, expect gravity reading (~9.81 m/s^2)
|
|
mj_step1(model, data);
|
|
mj_sensorAcc(model, data);
|
|
EXPECT_NEAR(data->sensordata[2], 9.81, 1e-2);
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
// Test tactile sensor reads non-zero values when contacts occur
|
|
TEST_F(SensorTest, TactileSkipTangents) {
|
|
constexpr char xml[] = R"(
|
|
<mujoco>
|
|
<option>
|
|
<flag multiccd="enable"/>
|
|
</option>
|
|
<asset>
|
|
<mesh name="sensor_mesh" builtin="sphere" params="0"/>
|
|
</asset>
|
|
<worldbody>
|
|
<body pos="0 0 1">
|
|
<freejoint/>
|
|
<geom name="sensor_geom" type="mesh" mesh="sensor_mesh"/>
|
|
</body>
|
|
<body>
|
|
<geom type="box" size=".7 .7 .3"/>
|
|
</body>
|
|
</worldbody>
|
|
<sensor>
|
|
<tactile geom="sensor_geom" mesh="sensor_mesh"/>
|
|
</sensor>
|
|
</mujoco>
|
|
)";
|
|
char error[1024];
|
|
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
|
|
ASSERT_THAT(model, NotNull()) << error;
|
|
ASSERT_GT(model->nsensordata, 0) << "No sensor data allocated";
|
|
mjData* data = mj_makeData(model);
|
|
|
|
// Use mj_forward to compute collisions and sensors at t=0
|
|
mj_forward(model, data);
|
|
|
|
// Verify initial state
|
|
EXPECT_EQ(data->time, 0.0);
|
|
EXPECT_GT(data->ncon, 0) << "No contacts generated";
|
|
|
|
// Tactile sensor layout: [depths..., tang1_vel..., tang2_vel...]
|
|
int ntaxel = model->nsensordata / 3;
|
|
ASSERT_EQ(model->nsensordata % 3, 0) << "Sensor dim should be divisible by 3";
|
|
|
|
// No tangents, so tangent components should be zero
|
|
for (int i = ntaxel; i < model->nsensordata; i++) {
|
|
EXPECT_EQ(data->sensordata[i], 0.0)
|
|
<< "Tangent component at index " << i << " should be 0";
|
|
}
|
|
|
|
// Penetration depth components: verify count, sign, and magnitude ~0.2
|
|
int nonzero_count = 0;
|
|
for (int i = 0; i < ntaxel; i++) {
|
|
if (data->sensordata[i] != 0) {
|
|
nonzero_count++;
|
|
EXPECT_NEAR(data->sensordata[i], 0.2, 0.1)
|
|
<< "Penetration depth at taxel " << i;
|
|
}
|
|
}
|
|
EXPECT_EQ(nonzero_count, 2) << "Expected 2 taxels in contact";
|
|
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
|
|
// insidesite uses subtree_com for massless flex parent bodies
|
|
TEST_F(SensorTest, InsideSiteFlexBody) {
|
|
static constexpr char xml[] = R"(
|
|
<mujoco>
|
|
<option gravity="0 0 0"/>
|
|
<worldbody>
|
|
<body name="parent">
|
|
<flexcomp name="soft" type="grid" count="3 3 3"
|
|
radius="0.01" dim="3" mass="1">
|
|
<elasticity young="5e4" poisson="0.2"/>
|
|
</flexcomp>
|
|
</body>
|
|
|
|
<!-- large site centered at origin, should contain the flex -->
|
|
<site name="container" type="box" size="2 2 2"/>
|
|
</worldbody>
|
|
|
|
<sensor>
|
|
<insidesite name="inside" site="container"
|
|
objtype="body" objname="parent"/>
|
|
</sensor>
|
|
</mujoco>
|
|
)";
|
|
|
|
char error[1024] = {0};
|
|
mjModel* m = LoadModelFromString(xml, error, sizeof(error));
|
|
ASSERT_THAT(m, NotNull()) << error;
|
|
mjData* d = mj_makeData(m);
|
|
|
|
// flex is at origin, site is a large box at origin — should be inside
|
|
mj_forward(m, d);
|
|
EXPECT_EQ(d->sensordata[0], 1)
|
|
<< "flex body should be inside the container site";
|
|
|
|
// shift all vertex/node bodies far outside the site via qpos
|
|
// each body has 3 slide joints (x, y, z); shift z by +10
|
|
int parent_id = mj_name2id(m, mjOBJ_BODY, "parent");
|
|
for (int b = parent_id + 1; b < m->nbody; b++) {
|
|
if (m->body_parentid[b] == parent_id) {
|
|
int jadr = m->body_jntadr[b];
|
|
if (jadr >= 0 && m->body_jntnum[b] == 3) {
|
|
// z-slide is the 3rd joint
|
|
d->qpos[m->jnt_qposadr[jadr + 2]] = 10.0;
|
|
}
|
|
}
|
|
}
|
|
mj_forward(m, d);
|
|
|
|
// subtree_com should now be far outside; sensor should read 0
|
|
EXPECT_EQ(d->sensordata[0], 0)
|
|
<< "flex body should be outside the container site after displacement";
|
|
|
|
mj_deleteData(d);
|
|
mj_deleteModel(m);
|
|
}
|
|
|
|
// Test that a tactile sensor's compile-time body-collision check correctly
|
|
// uses the referenced Geom ID instead of mistakenly indexing by Mesh ID.
|
|
TEST_F(SensorTest, TactileMeshIdMismatchedValidator) {
|
|
static constexpr char xml[] = R"(
|
|
<mujoco>
|
|
<asset>
|
|
<mesh name="sensor_mesh" builtin="sphere" params="0"/>
|
|
</asset>
|
|
<worldbody>
|
|
<body>
|
|
<geom size="0.1" contype="0" conaffinity="0"/>
|
|
</body>
|
|
<body>
|
|
<geom name="sensor_geom" type="mesh" mesh="sensor_mesh"/>
|
|
</body>
|
|
</worldbody>
|
|
<sensor>
|
|
<tactile geom="sensor_geom" mesh="sensor_mesh"/>
|
|
</sensor>
|
|
</mujoco>
|
|
)";
|
|
|
|
char error[1024] = {0};
|
|
mjModel* m = LoadModelFromString(xml, error, sizeof(error));
|
|
ASSERT_THAT(m, NotNull()) << error;
|
|
|
|
mj_deleteModel(m);
|
|
}
|
|
|
|
} // namespace
|
|
} // namespace mujoco
|