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Move CompareModel to a separate library.

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PiperOrigin-RevId: 927174846
Change-Id: Ia8b8b2c8593133d8910399be755e614282bf3252
This commit is contained in:
Yuval Tassa
2026-06-05 02:44:22 -07:00
committed by Copybara-Service
parent 5ce9a0ad0b
commit d80a847bae
14 changed files with 186 additions and 108 deletions
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test/CMakeLists.txt
+6
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@@ -104,6 +104,12 @@ target_link_libraries(
)
target_include_directories(fixture PRIVATE ${mujoco_SOURCE_DIR}/include gmock)
add_library(compare_model STATIC compare_model.h compare_model.cc)
target_include_directories(compare_model PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/..)
target_compile_definitions(compare_model PUBLIC MJSTATIC)
target_link_libraries(compare_model PUBLIC mujoco::mujoco)
target_include_directories(compare_model PRIVATE ${mujoco_SOURCE_DIR}/include)
mujoco_test(fixture_test)
mujoco_test(header_test)
test/compare_model.cc
+138
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@@ -0,0 +1,138 @@
// Copyright 2026 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/compare_model.h"
#include <cmath>
#include <cstring>
#include <limits>
#include <string>
#include <string_view>
#include <type_traits>
#include <mujoco/mjmodel.h>
#include <mujoco/mjxmacro.h>
#include <mujoco/mujoco.h>
namespace mujoco {
namespace {
template <typename T>
auto Compare(T val1, T val2);
auto Compare(char val1, char val2) {
return val1 != val2;
}
auto Compare(unsigned char val1, unsigned char val2) {
return val1 != val2;
}
auto Compare(bool val1, bool val2) {
return val1 != val2;
}
auto Compare(mjtSize val1, mjtSize val2) {
return val1 > val2 ? val1 - val2 : val2 - val1;
}
// 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.
template <typename T>
auto Compare(T val1, T val2) {
using ReturnType =
std::conditional_t<std::is_same_v<T, float>, float, double>;
ReturnType error;
if (std::abs(val1) <= 1 || std::abs(val2) <= 1) {
// Absolute precision for small numbers
error = std::abs(val1-val2);
} else {
// Relative precision for larger numbers
ReturnType magnitude = std::abs(val1) + std::abs(val2);
error = std::abs(val1/magnitude - val2/magnitude) / magnitude;
}
ReturnType safety_factor = 200;
return error < safety_factor * std::numeric_limits<ReturnType>::epsilon()
? 0
: error;
}
} // namespace
mjtNum CompareModel(const mjModel* m1, const mjModel* m2,
std::string& field) {
mjtNum dif, maxdif = 0.0;
// define symbols corresponding to number of columns
// (needed in MJMODEL_POINTERS)
MJMODEL_POINTERS_PREAMBLE(m1);
// compare ints, exclude nbuffer because it hides the actual difference
#define X(name) \
if constexpr (std::string_view(#name) != "nbuffer") { \
if (m1->name != m2->name) { \
maxdif = std::abs((long)m1->name - (long)m2->name); \
field = #name; \
} \
}
MJMODEL_SIZES
#undef X
if (maxdif > 0) return maxdif;
// compare arrays, apart from bvh-related ones (which includes flex_vert0), as
// those are sensitive to numerical differences when meshes are perfectly
// symmetric. Also skip flex fields derived from node local positions and
// cell geometry that are not fully serialized to XML.
#define X(type, name, nr, nc) \
if (strncmp(#name, "bvh_", 4) && \
strncmp(#name, "flex_vert", 9) && \
strncmp(#name, "mesh_poly", 9) && \
strcmp(#name, "flex_centered") && \
strcmp(#name, "flex_size") && \
strcmp(#name, "flexedge_length0") && \
strcmp(#name, "flexedge_invweight0") && \
strncmp(#name, "flex_node", 9)) { \
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; \
field = #name; \
field += " row: " + std::to_string(r); \
field += " col: " + std::to_string(c); \
} \
} \
} \
} // NOLINT
MJMODEL_POINTERS
#undef X
// compare fields in mjOption
#define X(type, name, n) \
dif = Compare(m1->opt.name, m2->opt.name); \
if (dif > maxdif) {maxdif = dif; field = #name;}
#define XVEC(type, name, n) \
for (int c=0; c < n; c++) { \
dif = Compare(m1->opt.name[c], m2->opt.name[c]); \
if (dif > maxdif) {maxdif = dif; field = #name;} }
MJOPTION_FIELDS
#undef XVEC
#undef X
// Return largest difference and field name
return maxdif;
}
} // namespace mujoco
test/compare_model.h
+30
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@@ -0,0 +1,30 @@
// Copyright 2026 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.
#ifndef MUJOCO_TEST_COMPARE_MODEL_H_
#define MUJOCO_TEST_COMPARE_MODEL_H_
#include <string>
#include <mujoco/mujoco.h>
namespace mujoco {
// Compares all fields of two mjModels.
// Returns the name of the different field and the max difference.
mjtNum CompareModel(const mjModel* m1, const mjModel* m2, std::string& field);
} // namespace mujoco
#endif // MUJOCO_TEST_COMPARE_MODEL_H_
test/fixture.cc
-104
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@@ -192,110 +192,6 @@ std::vector<mjtNum> GetCtrlNoise(const mjModel* m, int nsteps,
return ctrl;
}
template <typename T>
auto Compare(T val1, T val2);
auto Compare(char val1, char val2) {
return val1 != val2;
}
auto Compare(unsigned char val1, unsigned char val2) {
return val1 != val2;
}
auto Compare(bool val1, bool val2) {
return val1 != val2;
}
auto Compare(mjtSize val1, mjtSize val2) {
return val1 > val2 ? val1 - val2 : val2 - val1;
}
// 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.
template <typename T>
auto Compare(T val1, T val2) {
using ReturnType =
std::conditional_t<std::is_same_v<T, float>, float, double>;
ReturnType error;
if (std::abs(val1) <= 1 || std::abs(val2) <= 1) {
// Absolute precision for small numbers
error = std::abs(val1-val2);
} else {
// Relative precision for larger numbers
ReturnType magnitude = std::abs(val1) + std::abs(val2);
error = std::abs(val1/magnitude - val2/magnitude) / magnitude;
}
ReturnType safety_factor = 200;
return error < safety_factor * std::numeric_limits<ReturnType>::epsilon()
? 0
: error;
}
mjtNum CompareModel(const mjModel* m1, const mjModel* m2,
std::string& field) {
mjtNum dif, maxdif = 0.0;
// define symbols corresponding to number of columns
// (needed in MJMODEL_POINTERS)
MJMODEL_POINTERS_PREAMBLE(m1);
// compare ints, exclude nbuffer because it hides the actual difference
#define X(name) \
if constexpr (std::string_view(#name) != "nbuffer") { \
if (m1->name != m2->name) { \
maxdif = std::abs((long)m1->name - (long)m2->name); \
field = #name; \
} \
}
MJMODEL_SIZES
#undef X
if (maxdif > 0) return maxdif;
// compare arrays, apart from bvh-related ones (which includes flex_vert0), as
// those are sensitive to numerical differences when meshes are perfectly
// symmetric. Also skip flex fields derived from node local positions and
// cell geometry that are not fully serialized to XML.
#define X(type, name, nr, nc) \
if (strncmp(#name, "bvh_", 4) && \
strncmp(#name, "flex_vert", 9) && \
strncmp(#name, "mesh_poly", 9) && \
strcmp(#name, "flex_centered") && \
strcmp(#name, "flex_size") && \
strcmp(#name, "flexedge_length0") && \
strcmp(#name, "flexedge_invweight0") && \
strncmp(#name, "flex_node", 9)) { \
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; \
field = #name; \
field += " row: " + std::to_string(r); \
field += " col: " + std::to_string(c); \
} \
} \
} \
} // NOLINT
MJMODEL_POINTERS
#undef X
// compare fields in mjOption
#define X(type, name, n) \
dif = Compare(m1->opt.name, m2->opt.name); \
if (dif > maxdif) {maxdif = dif; field = #name;}
#define XVEC(type, name, n) \
for (int c=0; c < n; c++) { \
dif = Compare(m1->opt.name[c], m2->opt.name[c]); \
if (dif > maxdif) {maxdif = dif; field = #name;} }
MJOPTION_FIELDS
#undef XVEC
#undef X
// Return largest difference and field name
return maxdif;
}
MockFilesystem::MockFilesystem(std::string unit_test_name) {
prefix_ = absl::StrCat("MjMock.", unit_test_name);
test/fixture.h
-3
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@@ -182,9 +182,6 @@ std::string SaveAndReadXml(const mjSpec* spec);
std::vector<mjtNum> GetCtrlNoise(const mjModel* m, int nsteps,
mjtNum ctrlnoise = 0.01);
// Compares all fields of two mjModels.
// Returns the name of the different field and the max difference.
mjtNum CompareModel(const mjModel* m1, const mjModel* m2, std::string& field);
// Returns a vector containing the elements of the array.
template <typename T>
test/user/CMakeLists.txt
+3 -1
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@@ -14,13 +14,14 @@
mujoco_test(
user_model_test
ADDITIONAL_LINK_LIBRARIES absl::str_format
ADDITIONAL_LINK_LIBRARIES absl::str_format compare_model
)
mujoco_test(user_objects_test)
mujoco_test(
user_api_test
ADDITIONAL_LINK_LIBRARIES compare_model
PROPERTIES
ENVIRONMENT
"MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:elasticity>"
@@ -28,6 +29,7 @@ mujoco_test(
mujoco_test(
user_recompile_test
ADDITIONAL_LINK_LIBRARIES compare_model
PROPERTIES
ENVIRONMENT
"MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:elasticity>"
test/user/user_api_test.cc
+1
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@@ -31,6 +31,7 @@
#include <mujoco/mjspec.h>
#include <mujoco/mjplugin.h>
#include "src/xml/xml_api.h"
#include "test/compare_model.h"
#include "test/fixture.h"
namespace mujoco {
test/user/user_model_test.cc
+1
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@@ -26,6 +26,7 @@
#include <absl/strings/str_format.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mujoco.h>
#include "test/compare_model.h"
#include "test/fixture.h"
namespace mujoco {
test/user/user_recompile_test.cc
+1
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@@ -29,6 +29,7 @@
#include <mujoco/mjspec.h>
#include "src/xml/xml_api.h"
#include "src/xml/xml_numeric_format.h"
#include "test/compare_model.h"
#include "test/fixture.h"
namespace mujoco {
test/xml/CMakeLists.txt
+2
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@@ -16,6 +16,7 @@ mujoco_test(xml_api_test)
mujoco_test(
xml_native_reader_test
ADDITIONAL_LINK_LIBRARIES compare_model
)
mujoco_test(xml_utils_test)
@@ -33,6 +34,7 @@ mujoco_test(
xml_write_read_test
ADDITIONAL_LINK_LIBRARIES
absl::flat_hash_set
compare_model
PROPERTIES
ENVIRONMENT
"MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:elasticity>"
test/xml/mjz/CMakeLists.txt
+1
View File
@@ -20,4 +20,5 @@ mujoco_test(
mujoco_test(
mjz_encoder_test
ADDITIONAL_LINK_LIBRARIES compare_model
)
test/xml/mjz/mjz_encoder_test.cc
+1
View File
@@ -31,6 +31,7 @@
#include <mujoco/mjspec.h>
#include <mujoco/mujoco.h>
#include "src/xml/xml_numeric_format.h"
#include "test/compare_model.h"
#include "test/fixture.h"
namespace mujoco {
test/xml/xml_native_reader_test.cc
+1
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@@ -30,6 +30,7 @@
#include "src/cc/array_safety.h"
#include "src/engine/engine_util_errmem.h"
#include "src/xml/xml_api.h"
#include "test/compare_model.h"
#include "test/fixture.h"
namespace mujoco {
test/xml/xml_write_read_test.cc
+1
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@@ -28,6 +28,7 @@
#include <mujoco/mjmodel.h>
#include <mujoco/mujoco.h>
#include "src/xml/xml_numeric_format.h"
#include "test/compare_model.h"
#include "test/fixture.h"
namespace mujoco {