Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
2022-05-23 01:08:10 -07:00
parent 0e5d062302
commit 1913a02b40
275 changed files with 99607 additions and 935 deletions
@@ -0,0 +1,121 @@
+// 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.
+
+#include "test/fixture.h"
+
+#include <filesystem>
+#include <fstream>
+#include <memory>
+#include <string_view>
+
+#include <gmock/gmock.h>
+#include <gtest/gtest.h>
+#include <absl/base/const_init.h>
+#include <absl/strings/str_cat.h>
+#include <absl/synchronization/mutex.h>
+#include <mujoco/mjmodel.h>
+#include <mujoco/mujoco.h>
+
+namespace mujoco {
+namespace {
+
+ABSL_CONST_INIT static absl::Mutex handlers_mutex(absl::kConstInit);
+static int guard_count ABSL_GUARDED_BY(handlers_mutex) = 0;
+
+void default_mj_error_handler(const char* msg) {
+  FAIL() << "mju_user_error: " << msg;
+}
+
+void default_mj_warning_handler(const char* msg) {
+  ADD_FAILURE() << "mju_user_warning: " << msg;
+}
+}  // namespace
+
+MujocoErrorTestGuard::MujocoErrorTestGuard() {
+  absl::MutexLock lock(&handlers_mutex);
+  if (++guard_count == 1) {
+    mju_user_error = default_mj_error_handler;
+    mju_user_warning = default_mj_warning_handler;
+  }
+}
+
+MujocoErrorTestGuard::~MujocoErrorTestGuard() {
+  absl::MutexLock lock(&handlers_mutex);
+  if (--guard_count == 0) {
+    mju_user_error = nullptr;
+    mju_user_warning = nullptr;
+  }
+}
+
+const std::string GetTestDataFilePath(std::string_view path) {
+  return std::string(path);
+}
+
+const std::string GetModelPath(std::string_view path) {
+  return absl::StrCat("../model/", path);
+}
+
+mjModel* LoadModelFromString(std::string_view xml, char* error,
+                             int error_size) {
+  static constexpr char file[] = "filename.xml";
+  // mjVFS structs need to be allocated on the heap, because it's ~2MB
+  auto vfs = std::make_unique<mjVFS>();
+  mj_defaultVFS(vfs.get());
+  mj_makeEmptyFileVFS(vfs.get(), file, xml.size());
+  int file_idx = mj_findFileVFS(vfs.get(), file);
+  memcpy(vfs->filedata[file_idx], xml.data(), xml.size());
+  mjModel* m = mj_loadXML(file, vfs.get(), error, error_size);
+  mj_deleteFileVFS(vfs.get(), file);
+  return m;
+}
+
+const std::string GetFileContents(const char* path) {
+  std::ifstream ifs;
+  ifs.open(path, std::ifstream::in);
+  EXPECT_FALSE(ifs.fail());
+  std::ostringstream sstream;
+  sstream << ifs.rdbuf();
+  return sstream.str();
+}
+
+const std::string SaveAndReadXml(const mjModel* model) {
+  EXPECT_THAT(model, testing::NotNull());
+
+  constexpr int kMaxPathLen = 1024;
+  std::string path_template =
+      std::filesystem::temp_directory_path().append("tmp.XXXXXX").string();
+  EXPECT_LT(path_template.size(), kMaxPathLen);
+
+  char filepath[kMaxPathLen];
+  mju_strncpy(filepath, path_template.c_str(), path_template.size() + 1);
+
+#if defined(_POSIX_VERSION) && _POSIX_VERSION >= 200112L
+  int fd = mkstemp(filepath);
+  EXPECT_NE(fd, -1) << std::strerror(errno);
+#elif defined(_WIN32)
+  EXPECT_NE(_mktemp_s(filepath), EINVAL);
+#endif
+
+  mj_saveLastXML(filepath, model, nullptr, 0);
+  std::string contents = GetFileContents(filepath);
+
+#if defined(_POSIX_VERSION) && _POSIX_VERSION >= 200112L
+  close(fd);
+#endif
+  std::remove(filepath);
+
+  return contents;
+}
+
+}  // namespace mujoco