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Initial open sourcing of MuJoCo.

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PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
This commit is contained in:
Saran Tunyasuvunakool
2022-05-23 01:08:10 -07:00
committed by Copybara-Service
parent 0e5d062302
commit 1913a02b40
275 changed files with 99607 additions and 935 deletions
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test/user/user_model_test.cc
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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 user/user_model.cc.
#include <cstddef>
#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 ::testing::ElementsAre;
using UserDataTest = MujocoTest;
static std::vector<mjtNum> GetRow(const mjtNum* array, int ncolumn, int row) {
return std::vector<mjtNum>(array + ncolumn * row,
array + ncolumn * (row + 1));
}
// ------------- test automatic inference of nuser_xxx -------------------------
TEST_F(UserDataTest, AutoNUserBody) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body user="1 2 3"/>
<body user="2 3"/>
</worldbody>
</mujoco>
)";
mjModel* m = LoadModelFromString(xml);
ASSERT_EQ(m->nuser_body, 3);
EXPECT_THAT(GetRow(m->body_user, m->nuser_body, 1), ElementsAre(1, 2, 3));
EXPECT_THAT(GetRow(m->body_user, m->nuser_body, 2), ElementsAre(2, 3, 0));
mj_deleteModel(m);
}
TEST_F(UserDataTest, AutoNUserJoint) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1"/>
<joint user="1 2 3"/>
<joint user="2 3"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* m = LoadModelFromString(xml);
ASSERT_EQ(m->nuser_jnt, 3);
EXPECT_THAT(GetRow(m->jnt_user, m->nuser_jnt, 0), ElementsAre(1, 2, 3));
EXPECT_THAT(GetRow(m->jnt_user, m->nuser_jnt, 1), ElementsAre(2, 3, 0));
mj_deleteModel(m);
}
TEST_F(UserDataTest, AutoNUserGeom) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<geom size="1" user="1 2 3"/>
<geom size="1" user="2 3"/>
</worldbody>
</mujoco>
)";
mjModel* m = LoadModelFromString(xml);
ASSERT_EQ(m->nuser_geom, 3);
EXPECT_THAT(GetRow(m->geom_user, m->nuser_geom, 0), ElementsAre(1, 2, 3));
EXPECT_THAT(GetRow(m->geom_user, m->nuser_geom, 1), ElementsAre(2, 3, 0));
mj_deleteModel(m);
}
TEST_F(UserDataTest, AutoNUserSite) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<site user="1 2 3"/>
<site user="2 3"/>
</worldbody>
</mujoco>
)";
mjModel* m = LoadModelFromString(xml);
ASSERT_EQ(m->nuser_site, 3);
EXPECT_THAT(GetRow(m->site_user, m->nuser_site, 0), ElementsAre(1, 2, 3));
EXPECT_THAT(GetRow(m->site_user, m->nuser_site, 1), ElementsAre(2, 3, 0));
mj_deleteModel(m);
}
TEST_F(UserDataTest, AutoNUserCamera) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<camera user="1 2 3"/>
<camera user="2 3"/>
</worldbody>
</mujoco>
)";
mjModel* m = LoadModelFromString(xml);
ASSERT_EQ(m->nuser_cam, 3);
EXPECT_THAT(GetRow(m->cam_user, m->nuser_cam, 0), ElementsAre(1, 2, 3));
EXPECT_THAT(GetRow(m->cam_user, m->nuser_cam, 1), ElementsAre(2, 3, 0));
mj_deleteModel(m);
}
TEST_F(UserDataTest, AutoNUserTendon) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<site name="a"/>
<site name="b"/>
</worldbody>
<tendon>
<spatial user="1 2 3">
<site site="a"/>
<site site="b"/>
</spatial>
<spatial user="2 3">
<site site="a"/>
<site site="b"/>
</spatial>
</tendon>
</mujoco>
)";
mjModel* m = LoadModelFromString(xml);
ASSERT_EQ(m->nuser_tendon, 3);
EXPECT_THAT(GetRow(m->tendon_user, m->nuser_tendon, 0), ElementsAre(1, 2, 3));
EXPECT_THAT(GetRow(m->tendon_user, m->nuser_tendon, 1), ElementsAre(2, 3, 0));
mj_deleteModel(m);
}
TEST_F(UserDataTest, AutoNUserActuator) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1"/>
<joint name="a"/>
</body>
</worldbody>
<actuator>
<motor joint="a" user="1 2 3"/>
<motor joint="a" user="2 3"/>
</actuator>
</mujoco>
)";
mjModel* m = LoadModelFromString(xml);
ASSERT_EQ(m->nuser_actuator, 3);
EXPECT_THAT(GetRow(m->actuator_user, m->nuser_actuator, 0),
ElementsAre(1, 2, 3));
EXPECT_THAT(GetRow(m->actuator_user, m->nuser_actuator, 1),
ElementsAre(2, 3, 0));
mj_deleteModel(m);
}
TEST_F(UserDataTest, AutoNUserSensor) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<site name="a"/>
</worldbody>
<sensor>
<accelerometer site="a" user="1 2 3"/>
<gyro site="a" user="2 3"/>
</sensor>
</mujoco>
)";
mjModel* m = LoadModelFromString(xml);
ASSERT_EQ(m->nuser_sensor, 3);
EXPECT_THAT(GetRow(m->sensor_user, m->nuser_sensor, 0), ElementsAre(1, 2, 3));
EXPECT_THAT(GetRow(m->sensor_user, m->nuser_sensor, 1), ElementsAre(2, 3, 0));
mj_deleteModel(m);
}
} // namespace
} // namespace mujoco