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// Copyright 2019 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.
#if UNITY_EDITOR
using System;
using System.Collections;
using System.Collections.Generic;
using System.Xml;
using NUnit.Framework;
using UnityEngine;
using UnityEngine.TestTools;
using UnityEngine.TestTools.Utils;
namespace Mujoco {
[TestFixture]
public class MjSensorPlayTests {
private MjBody _body;
private MjSite _site;
private MjGeom _geom;
private MjHingeJoint _joint;
private MjSiteQuaternionSensor _siteQuatSensor0;
private MjSiteQuaternionSensor _siteQuatSensor;
private MjSiteVectorSensor _siteVectorSensor;
private MjGeomQuaternionSensor _geomQuatSensor;
private MjGeomVectorSensor _geomVectorSensor;
private MjBodyQuaternionSensor _bodyQuatSensor;
private MjBodyVectorSensor _bodyVectorSensor;
private MjScene _scene;
[SetUp]
public void SetUp() {
_scene = MjScene.Instance;
_body = new GameObject("body").AddComponent<MjBody>();
_site = new GameObject("site").AddComponent<MjSite>();
_geom = new GameObject("geom").AddComponent<MjGeom>();
_siteQuatSensor0 = new GameObject("sq0").AddComponent<MjSiteQuaternionSensor>();
_siteQuatSensor0.Site = _site;
_siteQuatSensor = new GameObject("sq").AddComponent<MjSiteQuaternionSensor>();
_siteQuatSensor.Site = _site;
_siteVectorSensor = new GameObject("sv").AddComponent<MjSiteVectorSensor>();
_siteVectorSensor.Site = _site;
_siteVectorSensor.SensorType = MjSiteVectorSensor.AvailableSensors.FramePos;
_geomQuatSensor = new GameObject("gq").AddComponent<MjGeomQuaternionSensor>();
_geomQuatSensor.Geom = _geom;
_geomVectorSensor = new GameObject("gv").AddComponent<MjGeomVectorSensor>();
_geomVectorSensor.Geom = _geom;
_geomVectorSensor.SensorType = MjGeomVectorSensor.AvailableSensors.FramePos;
_bodyQuatSensor = new GameObject("bq").AddComponent<MjBodyQuaternionSensor>();
_bodyQuatSensor.Body = _body;
_bodyVectorSensor = new GameObject("bv").AddComponent<MjBodyVectorSensor>();
_bodyVectorSensor.Body = _body;
_bodyVectorSensor.SensorType = MjBodyVectorSensor.AvailableSensors.FramePos;
_site.transform.position = new Vector3(1, 2, 3);
_site.transform.rotation = new Quaternion(0, 1, 2, 3);
_geom.transform.position = new Vector3(4, 5, 6);
_geom.transform.rotation = new Quaternion(4, 5, 6, 7);
_body.transform.position = new Vector3(7, 8, 9);
_body.transform.rotation = new Quaternion(7, 8, 9, 9);
_scene.CreateScene(); // compilation happens here
}
[TearDown]
public void TearDown() {
GameObject.DestroyImmediate(_site.gameObject);
GameObject.DestroyImmediate(_body.gameObject);
GameObject.DestroyImmediate(_geom.gameObject);
GameObject.DestroyImmediate(_siteQuatSensor0.gameObject);
GameObject.DestroyImmediate(_siteQuatSensor.gameObject);
GameObject.DestroyImmediate(_siteVectorSensor.gameObject);
GameObject.DestroyImmediate(_geomQuatSensor.gameObject);
GameObject.DestroyImmediate(_geomVectorSensor.gameObject);
GameObject.DestroyImmediate(_bodyQuatSensor.gameObject);
GameObject.DestroyImmediate(_bodyVectorSensor.gameObject);
GameObject.DestroyImmediate(_scene.gameObject);
GameObject.DestroyImmediate(MjScene.Instance);
}
[UnityTest]
public IEnumerator CheckSensorData() {
yield return new WaitForFixedUpdate(); // updating the transform
yield return new WaitForFixedUpdate(); // updating the transform
var vecComparer = new Vector3EqualityComparer(1e-4f);
var quatComparer = new Vector4EqualityComparer(1e-4f);
Assert.That(
_siteVectorSensor.SensorReading,
Is.EqualTo(_site.transform.position).Using(vecComparer));
Assert.That(
_geomVectorSensor.SensorReading,
Is.EqualTo(_geom.transform.position).Using(vecComparer));
Assert.That(
_bodyVectorSensor.SensorReading,
Is.EqualTo(_body.transform.position).Using(vecComparer));
Assert.That(
_siteQuatSensor0.SensorReading,
Is.EqualTo(_site.transform.rotation.normalized).Using(quatComparer));
Assert.That(
_siteQuatSensor.SensorReading,
Is.EqualTo(_site.transform.rotation.normalized).Using(quatComparer));
Assert.That(
_geomQuatSensor.SensorReading,
Is.EqualTo(_geom.transform.rotation.normalized).Using(quatComparer));
Assert.That(
_bodyQuatSensor.SensorReading,
Is.EqualTo(_body.transform.rotation.normalized).Using(quatComparer));
}
}
}
#endif
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