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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/xml/CMakeLists.txt
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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
#
# https://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.
mujoco_test(xml_api_test)
target_link_libraries(xml_api_test fixture gmock)
mujoco_test(xml_native_reader_test)
target_link_libraries(xml_native_reader_test fixture gmock)
mujoco_test(xml_native_writer_test)
target_link_libraries(xml_native_writer_test fixture gmock)
test/xml/xml_api_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 xml/xml_api.cc.
#include <cstddef>
#include <cstring>
#include <string>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mujoco.h>
#include "test/fixture.h"
namespace mujoco {
namespace {
using ::testing::IsNull;
using ::testing::NotNull;
// ---------------------------- test mj_loadXML --------------------------------
using LoadXmlTest = MujocoTest;
TEST_F(LoadXmlTest, EmptyModel) {
static constexpr char xml[] = "<mujoco/>";
mjModel* model = LoadModelFromString(xml, 0, 0);
ASSERT_THAT(model, NotNull());
EXPECT_EQ(model->nq, 0);
EXPECT_EQ(model->nv, 0);
EXPECT_EQ(model->nu, 0);
EXPECT_EQ(model->na, 0);
EXPECT_EQ(model->nbody, 1); // worldbody exists even in empty model
mjData* data = mj_makeData(model);
EXPECT_THAT(data, NotNull());
mj_step(model, data);
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(LoadXmlTest, InvalidXmlFailsToLoad) {
static constexpr char invalid_xml[] = "<mujoc";
char error[1024];
size_t error_sz = 1024;
mjModel* model = LoadModelFromString(invalid_xml, error, error_sz);
EXPECT_THAT(model, IsNull()) << "Expected model loading to fail.";
EXPECT_GT(std::strlen(error), 0);
if (model) {
mj_deleteModel(model);
}
}
// TODO(nimrod): Add more tests for mj_loadXML.
} // namespace
} // namespace mujoco
test/xml/xml_native_reader_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 xml/xml_native_reader.cc.
#include <array>
#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::HasSubstr;
using ::testing::IsNull;
using UserDataTest = MujocoTest;
TEST_F(UserDataTest, InvalidNUserBody) {
static constexpr char xml[] = R"(
<mujoco>
<size nuser_body="-2"/>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("nuser_body"));
}
TEST_F(UserDataTest, InvalidNUserJoint) {
static constexpr char xml[] = R"(
<mujoco>
<size nuser_jnt="-2"/>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("nuser_jnt"));
}
TEST_F(UserDataTest, InvalidNUserGeom) {
static constexpr char xml[] = R"(
<mujoco>
<size nuser_geom="-2"/>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("nuser_geom"));
}
TEST_F(UserDataTest, InvalidNUserSite) {
static constexpr char xml[] = R"(
<mujoco>
<size nuser_site="-2"/>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("nuser_site"));
}
TEST_F(UserDataTest, InvalidNUserCamera) {
static constexpr char xml[] = R"(
<mujoco>
<size nuser_cam="-2"/>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("nuser_cam"));
}
TEST_F(UserDataTest, InvalidNUserTendon) {
static constexpr char xml[] = R"(
<mujoco>
<size nuser_tendon="-2"/>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("nuser_tendon"));
}
TEST_F(UserDataTest, InvalidNUserActuator) {
static constexpr char xml[] = R"(
<mujoco>
<size nuser_actuator="-2"/>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("nuser_actuator"));
}
TEST_F(UserDataTest, InvalidNUserSensor) {
static constexpr char xml[] = R"(
<mujoco>
<size nuser_sensor="-2"/>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("nuser_sensor"));
}
// ------------- test relative frame sensor parsing ----------------------------
using RelativeFrameSensorParsingTest = MujocoTest;
TEST_F(RelativeFrameSensorParsingTest, RefNameButNoType) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<site name="reference"/>
<body name="sensorized"/>
</worldbody>
<sensor>
<framepos objname="sensorized" objtype="body" refname="reference"/>
</sensor>
</mujoco>
)";
std::array<char, 1024> error;
LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(error.data(), HasSubstr("but reftype is missing"));
}
TEST_F(RelativeFrameSensorParsingTest, RefTypeButNoName) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<site name="reference"/>
<body name="sensorized"/>
</worldbody>
<sensor>
<framepos objname="sensorized" objtype="body" reftype="site"/>
</sensor>
</mujoco>
)";
std::array<char, 1024> error;
LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(error.data(), HasSubstr("attribute missing: 'refname'"));
}
// ------------- test actlimited parsing ---------------------------------------
using ActuatorTest = MujocoTest;
TEST_F(ActuatorTest, InvalidActlimited) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="hinge"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<motor joint="hinge" actlimited="invalid" actrange="-1 1"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("unrecognized attribute"));
}
TEST_F(ActuatorTest, IncompleteActlimited) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="hinge"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<general joint="hinge" actlimited="true" actrange="-1"/>
</actuator>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("actrange"));
}
} // namespace
} // namespace mujoco
test/xml/xml_native_writer_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 xml/xml_native_writer.cc.
#if defined(__unix__) || (defined(__APPLE__) && defined(__MACH__))
#include <unistd.h>
#endif
#include <array>
#include <clocale>
#include <cstddef>
#include <cstdio>
#include <cstdlib>
#include <cstring>
#include <filesystem>
#include <memory>
#include <sstream>
#include <string>
#include <vector>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjxmacro.h>
#include <mujoco/mujoco.h>
#include "src/cc/array_safety.h"
#include "src/xml/xml_numeric_format.h"
#include "test/fixture.h"
namespace mujoco {
namespace {
using ::testing::HasSubstr;
using ::testing::Not;
using ::testing::NotNull;
using XMLWriterTest = MujocoTest;
TEST_F(XMLWriterTest, KeepsEmptyClasses) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<default class="empty_referenced"/>
<default class="empty_unreferenced"/>
<default class="regular">
<geom size="0.3"/>
</default>
</default>
<worldbody>
<geom class="regular"/>
<geom class="empty_referenced" size="0.2"/>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("default class=\"regular\""));
EXPECT_THAT(saved_xml, HasSubstr("default class=\"empty_referenced\""));
EXPECT_THAT(saved_xml, HasSubstr("default class=\"empty_unreferenced\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, KeepsExplicitInertial) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="0.2"/>
<inertial pos="0 1 2" mass="3"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("<inertial pos=\"0 1 2\" mass=\"3\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, NotAddsInertial) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="0.2"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("inertial")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, DropsInertialIfFromGeom) {
static constexpr char xml[] = R"(
<mujoco>
<compiler inertiafromgeom="true"/>
<worldbody>
<body>
<inertial pos="0 1 2" mass="3"/>
<geom size="0.2"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("inertial")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, KeepsActlimited) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="hinge"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<general dyntype="filter" joint="hinge" actlimited="true" actrange="-1 1"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("actlimited=\"true\" actrange=\"-1 1\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, UsesTwoSpaces) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr(" "));
EXPECT_THAT(saved_xml, Not(HasSubstr(" ")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, WritesSkin) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body name="B0_0" pos="0 0 0">
<composite type="cloth" count="2 2 1" spacing="0.05">
<skin texcoord="true"/>
<geom type="ellipsoid" size="1 1 1"/>
</composite>
</body>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
mjModel* mtemp = LoadModelFromString(SaveAndReadXml(model));
EXPECT_THAT(model->nskin, 1);
EXPECT_THAT(mtemp->nskin, 1);
mj_deleteModel(model);
mj_deleteModel(mtemp);
}
// check that no precision is lost when saving XMLs with FullFloatPrecision
TEST_F(XMLWriterTest, SetPrecision) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<geom type="box" size="0.1 0.123456 0.1234567812345678"/>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
// save to XML and re-load, expect to lose precision
mjModel* model_lo = LoadModelFromString(SaveAndReadXml(model));
EXPECT_EQ(model->geom_size[1], model_lo->geom_size[1]);
EXPECT_NE(model->geom_size[2], model_lo->geom_size[2]);
{
// save to XML and re-load with FullFloatPrecision, expect to maintain precision
FullFloatPrecision increase_precision;
mjModel* model_hi = LoadModelFromString(SaveAndReadXml(model));
EXPECT_EQ(model->geom_size[2], model_hi->geom_size[2]);
mj_deleteModel(model_hi);
}
mj_deleteModel(model_lo);
mj_deleteModel(model);
}
class XMLWriterLocaleTest : public MujocoTest {
protected:
char* old_locale;
void SetUp() override {
this->old_locale = std::setlocale(LC_ALL, nullptr);
if (!std::setlocale(LC_ALL, "de_DE.UTF-8")) {
GTEST_SKIP() << "This system doesn't support the de_DE.UTF-8 locale";
}
}
void TearDown() override {
std::setlocale(LC_ALL, old_locale);
}
};
TEST_F(XMLWriterLocaleTest, IgnoresLocale) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<geom type="box" size="0.1 1.23 2.345"/>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("0.1 1.23 2.345"));
mj_deleteModel(model);
// Test that MuJoCo doesn't override locales for subsequent calls.
char formatted[7];
std::snprintf(formatted, sizeof(formatted), "%f", 3.9375);
EXPECT_EQ(std::string(formatted), "3,9375");
}
// ------------------------ test loading and saving multiple files ---------------------------------
namespace mju = ::mujoco::util;
static constexpr int kFieldSize = 500;
// The maximum spacing between a normalised floating point number x and an
// adjacent normalised number is 2 epsilon |x|; a factor 10 is added accounting
// for losses during non-idempotent operations such as vector normalizations.
mjtNum Compare(mjtNum val1, mjtNum val2) {
mjtNum error;
if (mju_abs(val1) <= 1 || mju_abs(val2) <= 1) {
// Asbolute precision for small numbers
error = mju_abs(val1-val2);
} else {
// Relative precision for larger numbers
mjtNum magnitude = mju_max(mju_abs(val1), mju_abs(val2));
error = mju_abs(val1/magnitude - val2/magnitude) / magnitude;
}
return error < 2*10*std::numeric_limits<double>::epsilon() ? 0 : error;
}
mjtNum CompareModel(const mjModel* m1, const mjModel* m2, char (&field)[kFieldSize]) {
mjtNum dif, maxdif = 0.0;
// define symbols corresponding to number of columns (needed in MJMODEL_POINTERS)
MJMODEL_POINTERS_PREAMBLE(m1);
// compare ints
#define X(name) \
if (m1->name != m2->name) {maxdif = 1.0; mju::strcpy_arr(field, #name);}
MJMODEL_INTS
#undef X
// compare arrays
#define X(type, name, nr, nc) \
for (int r=0; r < m1->nr; r++) \
for (int c=0; c < nc; c++) { \
dif = Compare(m1->name[r*nc+c], m2->name[r*nc+c]); \
if (dif > maxdif) {maxdif = dif; mju::strcpy_arr(field, #name);} }
MJMODEL_POINTERS
#undef X
// compare scalars in mjOption
#define X(type, name) \
dif = Compare(m1->opt.name, m2->opt.name); \
if (dif > maxdif) {maxdif = dif; mju::strcpy_arr(field, #name);}
MJOPTION_SCALARS
#undef X
// compare arrays in mjOption
#define X(name, n) \
for (int c=0; c < n; c++) { \
dif = Compare(m1->opt.name[c], m2->opt.name[c]); \
if (dif > maxdif) {maxdif = dif; mju::strcpy_arr(field, #name);} }
MJOPTION_VECTORS
#undef X
// Return largest difference and field name
return maxdif;
}
TEST_F(XMLWriterTest, WriteReadCompare) {
FullFloatPrecision increase_precision;
// Loop over all xml files in data
std::vector<std::string> paths = {GetModelPath("humanoid"), GetModelPath("humanoid100")};
std::string ext(".xml");
for (auto const& path : paths) {
for (auto &p : std::filesystem::recursive_directory_iterator(path)) {
if (p.path().extension() == ext) {
std::string xml = p.path().string();
// load model
std::array<char, 1000> error;
mjModel* m = mj_loadXML(xml.c_str(), nullptr, error.data(), error.size());
ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error.data();
// make data
mjData* d = mj_makeData(m);
ASSERT_THAT(d, NotNull()) << "Failed to load model: " << error.data();
// save and load back
mjModel* mtemp = LoadModelFromString(SaveAndReadXml(m));
ASSERT_THAT(mtemp, NotNull()) << "Failed to load model: " << error.data();
// compare
char field[kFieldSize] = "";
mjtNum result = CompareModel(m, mtemp, field);
EXPECT_LE(result, 0) << "Loaded and saved models are different!" << std::endl
<< "Affected file " << p.path().string() << std::endl
<< "Different field: " << field << std::endl;
// delete everything
mj_deleteData(d);
mj_deleteModel(m);
mj_deleteModel(mtemp);
}
}
}
}
} // namespace
} // namespace mujoco