Initial open sourcing of MuJoCo.
PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
This commit is contained in:
Saran Tunyasuvunakool
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Copybara-Service
Copybara-Service
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0e5d062302
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// Copyright 2021 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// Tests for xml/xml_native_writer.cc.
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#if defined(__unix__) || (defined(__APPLE__) && defined(__MACH__))
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#include <unistd.h>
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#endif
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#include <array>
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#include <clocale>
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#include <cstddef>
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#include <cstdio>
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#include <cstdlib>
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#include <cstring>
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#include <filesystem>
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#include <memory>
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#include <sstream>
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#include <string>
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#include <vector>
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjxmacro.h>
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#include <mujoco/mujoco.h>
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#include "src/cc/array_safety.h"
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#include "src/xml/xml_numeric_format.h"
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#include "test/fixture.h"
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namespace mujoco {
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namespace {
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using ::testing::HasSubstr;
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using ::testing::Not;
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using ::testing::NotNull;
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using XMLWriterTest = MujocoTest;
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TEST_F(XMLWriterTest, KeepsEmptyClasses) {
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static constexpr char xml[] = R"(
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<mujoco>
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<default>
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<default class="empty_referenced"/>
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<default class="empty_unreferenced"/>
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<default class="regular">
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<geom size="0.3"/>
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</default>
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</default>
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<worldbody>
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<geom class="regular"/>
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<geom class="empty_referenced" size="0.2"/>
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</worldbody>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("default class=\"regular\""));
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EXPECT_THAT(saved_xml, HasSubstr("default class=\"empty_referenced\""));
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EXPECT_THAT(saved_xml, HasSubstr("default class=\"empty_unreferenced\""));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, KeepsExplicitInertial) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body>
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<geom size="0.2"/>
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<inertial pos="0 1 2" mass="3"/>
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</body>
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</worldbody>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("<inertial pos=\"0 1 2\" mass=\"3\""));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, NotAddsInertial) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body>
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<geom size="0.2"/>
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</body>
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</worldbody>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, Not(HasSubstr("inertial")));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, DropsInertialIfFromGeom) {
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static constexpr char xml[] = R"(
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<mujoco>
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<compiler inertiafromgeom="true"/>
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<worldbody>
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<body>
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<inertial pos="0 1 2" mass="3"/>
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<geom size="0.2"/>
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</body>
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</worldbody>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, Not(HasSubstr("inertial")));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, KeepsActlimited) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body>
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<joint name="hinge"/>
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<geom size="1"/>
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</body>
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</worldbody>
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<actuator>
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<general dyntype="filter" joint="hinge" actlimited="true" actrange="-1 1"/>
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</actuator>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("actlimited=\"true\" actrange=\"-1 1\""));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, UsesTwoSpaces) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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</worldbody>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr(" "));
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EXPECT_THAT(saved_xml, Not(HasSubstr(" ")));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, WritesSkin) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body name="B0_0" pos="0 0 0">
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<composite type="cloth" count="2 2 1" spacing="0.05">
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<skin texcoord="true"/>
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<geom type="ellipsoid" size="1 1 1"/>
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</composite>
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</body>
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</worldbody>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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mjModel* mtemp = LoadModelFromString(SaveAndReadXml(model));
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EXPECT_THAT(model->nskin, 1);
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EXPECT_THAT(mtemp->nskin, 1);
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mj_deleteModel(model);
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mj_deleteModel(mtemp);
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}
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// check that no precision is lost when saving XMLs with FullFloatPrecision
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TEST_F(XMLWriterTest, SetPrecision) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<geom type="box" size="0.1 0.123456 0.1234567812345678"/>
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</worldbody>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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// save to XML and re-load, expect to lose precision
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mjModel* model_lo = LoadModelFromString(SaveAndReadXml(model));
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EXPECT_EQ(model->geom_size[1], model_lo->geom_size[1]);
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EXPECT_NE(model->geom_size[2], model_lo->geom_size[2]);
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{
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// save to XML and re-load with FullFloatPrecision, expect to maintain precision
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FullFloatPrecision increase_precision;
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mjModel* model_hi = LoadModelFromString(SaveAndReadXml(model));
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EXPECT_EQ(model->geom_size[2], model_hi->geom_size[2]);
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mj_deleteModel(model_hi);
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}
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mj_deleteModel(model_lo);
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mj_deleteModel(model);
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}
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class XMLWriterLocaleTest : public MujocoTest {
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protected:
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char* old_locale;
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void SetUp() override {
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this->old_locale = std::setlocale(LC_ALL, nullptr);
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if (!std::setlocale(LC_ALL, "de_DE.UTF-8")) {
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GTEST_SKIP() << "This system doesn't support the de_DE.UTF-8 locale";
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}
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}
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void TearDown() override {
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std::setlocale(LC_ALL, old_locale);
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}
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};
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TEST_F(XMLWriterLocaleTest, IgnoresLocale) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<geom type="box" size="0.1 1.23 2.345"/>
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</worldbody>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("0.1 1.23 2.345"));
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mj_deleteModel(model);
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// Test that MuJoCo doesn't override locales for subsequent calls.
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char formatted[7];
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std::snprintf(formatted, sizeof(formatted), "%f", 3.9375);
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EXPECT_EQ(std::string(formatted), "3,9375");
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}
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// ------------------------ test loading and saving multiple files ---------------------------------
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namespace mju = ::mujoco::util;
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static constexpr int kFieldSize = 500;
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// The maximum spacing between a normalised floating point number x and an
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// adjacent normalised number is 2 epsilon |x|; a factor 10 is added accounting
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// for losses during non-idempotent operations such as vector normalizations.
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mjtNum Compare(mjtNum val1, mjtNum val2) {
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mjtNum error;
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if (mju_abs(val1) <= 1 || mju_abs(val2) <= 1) {
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// Asbolute precision for small numbers
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error = mju_abs(val1-val2);
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} else {
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// Relative precision for larger numbers
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mjtNum magnitude = mju_max(mju_abs(val1), mju_abs(val2));
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error = mju_abs(val1/magnitude - val2/magnitude) / magnitude;
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}
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return error < 2*10*std::numeric_limits<double>::epsilon() ? 0 : error;
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}
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mjtNum CompareModel(const mjModel* m1, const mjModel* m2, char (&field)[kFieldSize]) {
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mjtNum dif, maxdif = 0.0;
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// define symbols corresponding to number of columns (needed in MJMODEL_POINTERS)
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MJMODEL_POINTERS_PREAMBLE(m1);
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// compare ints
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#define X(name) \
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if (m1->name != m2->name) {maxdif = 1.0; mju::strcpy_arr(field, #name);}
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MJMODEL_INTS
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#undef X
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// compare arrays
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#define X(type, name, nr, nc) \
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for (int r=0; r < m1->nr; r++) \
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for (int c=0; c < nc; c++) { \
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dif = Compare(m1->name[r*nc+c], m2->name[r*nc+c]); \
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if (dif > maxdif) {maxdif = dif; mju::strcpy_arr(field, #name);} }
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MJMODEL_POINTERS
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#undef X
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// compare scalars in mjOption
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#define X(type, name) \
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dif = Compare(m1->opt.name, m2->opt.name); \
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if (dif > maxdif) {maxdif = dif; mju::strcpy_arr(field, #name);}
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MJOPTION_SCALARS
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#undef X
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// compare arrays in mjOption
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#define X(name, n) \
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for (int c=0; c < n; c++) { \
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dif = Compare(m1->opt.name[c], m2->opt.name[c]); \
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if (dif > maxdif) {maxdif = dif; mju::strcpy_arr(field, #name);} }
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MJOPTION_VECTORS
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#undef X
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// Return largest difference and field name
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return maxdif;
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}
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TEST_F(XMLWriterTest, WriteReadCompare) {
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FullFloatPrecision increase_precision;
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// Loop over all xml files in data
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std::vector<std::string> paths = {GetModelPath("humanoid"), GetModelPath("humanoid100")};
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std::string ext(".xml");
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for (auto const& path : paths) {
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for (auto &p : std::filesystem::recursive_directory_iterator(path)) {
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if (p.path().extension() == ext) {
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std::string xml = p.path().string();
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// load model
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std::array<char, 1000> error;
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mjModel* m = mj_loadXML(xml.c_str(), nullptr, error.data(), error.size());
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ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error.data();
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// make data
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mjData* d = mj_makeData(m);
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ASSERT_THAT(d, NotNull()) << "Failed to load model: " << error.data();
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// save and load back
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mjModel* mtemp = LoadModelFromString(SaveAndReadXml(m));
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ASSERT_THAT(mtemp, NotNull()) << "Failed to load model: " << error.data();
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// compare
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char field[kFieldSize] = "";
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mjtNum result = CompareModel(m, mtemp, field);
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EXPECT_LE(result, 0) << "Loaded and saved models are different!" << std::endl
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<< "Affected file " << p.path().string() << std::endl
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<< "Different field: " << field << std::endl;
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// delete everything
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mj_deleteData(d);
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mj_deleteModel(m);
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mj_deleteModel(mtemp);
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}
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}
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}
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}
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} // namespace
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} // namespace mujoco
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