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// 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 <array>
#include <cstddef>
#include <cstdio>
#include <string>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.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 {
const mjtNum tol = 1e-14; // nearness tolerance for floating point numbers
// returns as a vector the measured values from sensor with index `id`
static std::vector<mjtNum> GetSensor(const mjModel* model,
const mjData* data,
int id) {
return std::vector<mjtNum>(
data->sensordata + model->sensor_adr[id],
data->sensordata + model->sensor_adr[id] + model->sensor_dim[id]);
}
using ::testing::Pointwise;
using ::testing::DoubleNear;
using ::testing::StrEq;
using SensorTest = MujocoTest;
// --------------------- test sensor disableflag -----------------------------
// hand-picked positions and orientations for simple expected values
TEST_F(SensorTest, DisableSensors) {
constexpr char xml[] = R"(
<mujoco>
<sensor>
<clock/>
</sensor>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml, 0, 0);
mjData* data = mj_makeData(model);
// before calling anything, check that sensors are initialised to 0
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>
)";
mjModel* model = LoadModelFromString(xml, 0, 0);
mjData* data = mj_makeData(model);
mj_forward(model, data);
// compare actual and expected values
std::vector pos = GetSensor(model, data, 0);
EXPECT_THAT(pos, Pointwise(DoubleNear(tol), {5, 5, 0}));
std::vector xaxis = GetSensor(model, data, 1);
EXPECT_THAT(xaxis, Pointwise(DoubleNear(tol), {0, -1, 0}));
std::vector yaxis = GetSensor(model, data, 2);
EXPECT_THAT(yaxis, Pointwise(DoubleNear(tol), {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, 0, 0);
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
std::vector quat = GetSensor(model, data, 3);
EXPECT_THAT(quat, Pointwise(DoubleNear(tol), 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, 0, 0);
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);
std::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);
// note that in the loop above the quat is unnormalized, but that's ok,
// quaternions are automatically normalized in place:
EXPECT_NEAR(mju_norm(data->qpos+3, 4), 1.0, tol);
// get values from relative sensors after moving the object
std::vector actual_values(data->sensordata+nsensordata/2,
data->sensordata+nsensordata);
// object and reference have moved together, we expect values to not unchange
EXPECT_THAT(actual_values, Pointwise(DoubleNear(tol), 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, 0, 0);
mjData* data = mj_makeData(model);
data->qvel[0] = mju_sqrt(2);
data->qvel[1] = 1;
mj_forward(model, data);
// compare to expected values
std::vector linvel = GetSensor(model, data, 0);
const mjtNum expected_linvel[3] = {-mju_sqrt(0.5), mju_sqrt(0.5), 0};
EXPECT_THAT(linvel, Pointwise(DoubleNear(tol), expected_linvel));
mj_deleteData(data);
mj_deleteModel(model);
}
// object and reference in the same body, expect angular velocites 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, 0, 0);
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 velocites should be zero
std::vector angvel = GetSensor(model, data, 0);
EXPECT_THAT(angvel, Pointwise(DoubleNear(tol), {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, 0, 0);
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
std::vector angvel = GetSensor(model, data, 0);
const mjtNum expected_angvel[3] = {0, data->qvel[1]-data->qvel[0], 0};
EXPECT_THAT(angvel, Pointwise(DoubleNear(tol), 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, 0, 0);
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
std::vector linvel = GetSensor(model, data, 2);
std::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(DoubleNear(10*dt), linvel_findiff));
EXPECT_THAT(angvel, Pointwise(DoubleNear(10*dt), angvel_findiff));
mj_deleteData(data);
mj_deleteModel(model);
}
// ------------------------- general sensor tests -----------------------------
using SensorTest = MujocoTest;
// 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, 0, 0);
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));
}
// chack 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);
}
} // namespace
} // namespace mujoco
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