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Delete testxml code sample.

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PiperOrigin-RevId: 573202693
Change-Id: Ic8d284293bd5c51693415d4186bb0b72a5416dca
This commit is contained in:
Yuval Tassa
2023-10-13 06:30:13 -07:00
committed by Copybara-Service
parent d88675a034
commit fb4cf472ed
9 changed files with 11 additions and 223 deletions
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doc/changelog.rst
+9 -7
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@@ -139,15 +139,17 @@ General
:ref:`mjDEPTH_ZERONEAR` and :ref:`mjDEPTH_ZEROFAR`, which can be used to set the new ``readDepthMap`` attribute in
:ref:`mjrContext`` to control how the depth returned by :ref:`mjr_readPixels` is mapped from ``znear`` to ``zfar``.
`Contribution <https://github.com/google-deepmind/mujoco/pull/978>`__ by `Levi Burner <https://github.com/aftersomemath>`__.
25. Deleted the code sample ``testxml``. The functionality provided by this utility is implemented in the
`WriteReadCompare <https://github.com/google-deepmind/mujoco/blob/main/test/xml/xml_native_writer_test.cc>__ test.
Python bindings
^^^^^^^^^^^^^^^
25. Fixed `#870 <https://github.com/google-deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
26. Fixed `#870 <https://github.com/google-deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
camera name used the default camera.
26. Added ``user_scn`` to the :ref:`passive viewer<PyViewerPassive>` handle, which allows users to add custom
27. Added ``user_scn`` to the :ref:`passive viewer<PyViewerPassive>` handle, which allows users to add custom
visualization geoms (`#1023 <https://github.com/google-deepmind/mujoco/issues/870>`__).
27. Added optional boolean keyword arguments ``show_left_ui`` and ``show_right_ui`` to the functions ``viewer.launch``
28. Added optional boolean keyword arguments ``show_left_ui`` and ``show_right_ui`` to the functions ``viewer.launch``
and ``viewer.launch_passive``, which allow users to launch a viewer with UI panels hidden.
Simulate
@@ -157,21 +159,21 @@ Simulate
:align: right
:width: 240px
28. Added **state history** mechanism to :ref:`simulate<saSimulate>` and the managed
29. Added **state history** mechanism to :ref:`simulate<saSimulate>` and the managed
:ref:`Python viewer<PyViewerManaged>`. State history can be viewed by scrubbing the History slider and (more
precisely) with the left and right arrow keys. See screen capture:
29. The ``LOADING...`` label is now shown correctly.
30. The ``LOADING...`` label is now shown correctly.
`Contribution <https://github.com/google-deepmind/mujoco/pull/1070>`__ by
`Levi Burner <https://github.com/aftersomemath>`__.
Bug fixes
^^^^^^^^^
30. Fixed a bug that was causing :ref:`geom margin<body-geom-margin>` to be ignored during the construction of
31. Fixed a bug that was causing :ref:`geom margin<body-geom-margin>` to be ignored during the construction of
midphase collision trees.
31. Fixed a bug that was generating incorrect values in ``efc_diagApprox`` for weld equality constraints.
32. Fixed a bug that was generating incorrect values in ``efc_diagApprox`` for weld equality constraints.
Version 2.3.7 (July 20, 2023)
doc/programming/index.rst
+1 -1
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@@ -165,7 +165,7 @@ links below, to make this documentation self-contained.
`mjxmacro.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjxmacro.h>`__
This file is optional and is not included by mujoco.h. It defines :ref:`X Macros <tyXMacro>` that can
automate the mapping of mjModel and mjData into scripting languages, as well as other operations that require
accessing all fields of mjModel and mjData. See code sample :ref:`testxml.cc <saTestXML>`.
accessing all fields of mjModel and mjData.
`mjexport.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjexport.h>`__
Macros used for exporting public symbols from the MuJoCo library. This header should not be used directly by client
code.
doc/programming/samples.rst
-22
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@@ -26,28 +26,6 @@ profiling. The results are then printed in the console. To simulate controlled d
one can either install the control callback :ref:`mjcb_control`, or set control signals
explicitly as explained in the :ref:`simulation loop <siSimulation>` section below.
.. _saTestXML:
`testxml <https://github.com/google-deepmind/mujoco/blob/main/sample/testxml.cc>`_
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
This code sample tests the parser, compiler and XML writer. The testing code does the following:
- Parse and compile a specified XML model in MJCF or URDF. This yields an mjModel structure ready for simulation;
- Save the model as a temporary MJCF file, using a "canonical" subset of MJCF where a number of conversions have
already been performed by the compiler;
- Parse and compile the temporary MJCF file. This yields a second mjModel structure ready for simulation;
- Compare the two mjModel structures field by field, and print the field with the largest numerical difference. Since
MJCF is a text format, the real-valued numbers saved in it have lower precision than the double precision used
internally, thus we cannot expect the two models to be identical on the bit level. But we can expect the largest
difference to be on the order of 1e-6. A substantially larger difference indicates a bug in the parser, compiler or
XML writer - and should be reported.
The code uses the :ref:`X Macros <tyXMacro>` described in the Reference chapter. This is a convenient way
to apply the same operation to all fields in mjModel, without explicitly typing their names. The code sample
:ref:`simulate.cc <saSimulate>` also uses X Macros to implement a watch, where the user can type the name of any mjData
field which is resolved at runtime.
.. _saCompile:
`compile <https://github.com/google-deepmind/mujoco/blob/main/sample/compile.cc>`_
doc/programming/simulation.rst
+1 -11
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@@ -676,10 +676,7 @@ correct way to do it is the hard way:
mju_copy(myqposqvel, d->qpos, m->nq + m->nv);
The :ref:`X Macros <tyXMacro>` defined in the optional header file ``mjxmacro.h`` can be used to automate allocation of
data structure that match mjModel and mjData, for example when writing a MuJoCo wrapper for a scripting language. In
the code sample :ref:`testxml.cc <saTestXML>` we use these unusual macros to compare all data arrays from two instances
of mjModel and find the one with the largest difference. Apparently X Macros were invented in the 1960's for assembly
language, and remain a great idea.
data structure that match mjModel and mjData, for example when writing a MuJoCo wrapper for a scripting language.
.. _siStack:
@@ -841,13 +838,6 @@ forces are disabled) the underlying physical system is energy-conserving. In tha
the total energy indicate inaccuracies in numerical integration. For such systems the Runge-Kutta integrator has much
better performance than the default semi-implicit Euler integrator.
Finally, the user can implement additional diagnostics as needed. Two examples were provided in the code samples
``testxml.cc`` and ``derivative.cc``, where we computed model mismatches after save and load, and assessed the accuracy
of the numerical derivatives respectively. Key to such diagnostics is to implement two different algorithms or
simulation paths that compute the same quantity, and compare the results numerically. This type of sanity check is
essential when dealing with complex dynamical systems where we do not really know what the numerical output should be;
if we knew that, we would not be using a simulator in the first place.
.. _siJacobian:
Jacobians
sample/CMakeLists.txt
-9
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@@ -86,15 +86,9 @@ target_compile_options(testspeed PUBLIC ${MUJOCO_SAMPLE_COMPILE_OPTIONS})
target_link_libraries(testspeed Threads::Threads)
target_link_options(testspeed PRIVATE ${MUJOCO_SAMPLE_LINK_OPTIONS})
add_executable(testxml testxml.cc array_safety.h)
target_compile_options(testxml PUBLIC ${MUJOCO_SAMPLE_COMPILE_OPTIONS})
target_link_libraries(testxml Threads::Threads)
target_link_options(testxml PRIVATE ${MUJOCO_SAMPLE_LINK_OPTIONS})
target_link_libraries(compile mujoco::mujoco)
target_link_libraries(derivative mujoco::mujoco)
target_link_libraries(testspeed mujoco::mujoco)
target_link_libraries(testxml mujoco::mujoco)
# Build samples that require GLFW.
@@ -124,7 +118,6 @@ if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
embed_in_bundle(derivative simulate)
embed_in_bundle(record simulate)
embed_in_bundle(testspeed simulate)
embed_in_bundle(testxml simulate)
endif()
# Do not install if macOS Bundles are created as RPATH is managed manually there.
@@ -144,7 +137,6 @@ if(_INSTALL_SAMPLES)
derivative
record
testspeed
testxml
INSTALL_DIRECTORY
"${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}"
LIB_DIRS
@@ -159,7 +151,6 @@ if(_INSTALL_SAMPLES)
derivative
record
testspeed
testxml
EXPORT ${PROJECT_NAME}
RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT samples
LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT samples
sample/Makefile
-1
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@@ -6,7 +6,6 @@ COMMON=-O2 -I../include -L../lib -std=c++17 -pthread -Wl,-no-as-needed -Wl,-rpat
.PHONY: all
all:
$(CXX) $(COMMON) testxml.cc -lmujoco -o ../bin/testxml
$(CXX) $(COMMON) testspeed.cc -lmujoco -o ../bin/testspeed
$(CXX) $(COMMON) compile.cc -lmujoco -o ../bin/compile
$(CXX) $(COMMON) derivative.cc -lmujoco -fopenmp -o ../bin/derivative
sample/Makefile.macos
-1
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@@ -12,7 +12,6 @@ ALLFLAGS=$(CXXFLAGS) -L$(GLFWROOT)/lib -Wl,-rpath,$(MUJOCOPATH)
.PHONY: all
all:
clang++ $(ALLFLAGS) testxml.cc -framework mujoco -o testxml
clang++ $(ALLFLAGS) testspeed.cc -framework mujoco -o testspeed
clang++ $(ALLFLAGS) compile.cc -framework mujoco -o compile
clang++ $(ALLFLAGS) derivative.cc -framework mujoco -o derivative
sample/Makefile.windows
-1
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@@ -10,7 +10,6 @@ COMMON=/O2 /MT /EHsc /arch:AVX /I../include /Fe../bin/
.PHONY: all
all:
cl $(COMMON) testxml.cc ../lib/mujoco.lib
cl $(COMMON) testspeed.cc ../lib/mujoco.lib
cl $(COMMON) compile.cc ../lib/mujoco.lib
cl $(COMMON) derivative.cc /openmp ../lib/mujoco.lib
sample/testxml.cc
-170
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@@ -1,170 +0,0 @@
// 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 <cstddef>
#include <cstdio>
#include <cstring>
#include <string>
#include <mujoco/mjxmacro.h>
#include <mujoco/mujoco.h>
#include "array_safety.h"
namespace mju = ::mujoco::sample_util;
static constexpr int kFieldSize = 500;
// help
const char helpstring[] = "\n Usage: testxml modelfile.xml\n";
// deallocate and print message
int finish(const char* msg = 0, mjModel* m = 0, mjData* d = 0) {
// deallocated everything
if (d) {
mj_deleteData(d);
}
if (m) {
mj_deleteModel(m);
}
// print message
if (msg) {
std::printf("%s\n", msg);
}
return 0;
}
// return absolute difference if it is below 1, relative difference otherwise
static mjtNum _compare(mjtNum val1, mjtNum val2) {
mjtNum magnitude = mju_max(mju_abs(val1), mju_abs(val2));
if (magnitude>1.0) {
return mju_abs(val1-val2) / magnitude;
} else {
return mju_abs(val1-val2);
}
}
// compare two models, return largest difference and field name
mjtNum compareModel(const mjModel* m1, const mjModel* m2, char (&field)[kFieldSize]) {
int r, c;
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) {mju::strcpy_arr(field, #name); return 1.0;}
MJMODEL_INTS
#undef X
// compare arrays
#define X(type, name, nr, nc) \
for( r=0; r<m1->nr; r++ ) \
for( 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( 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
// mjVisual and mjStatistics ignored for now
return maxdif;
}
// main function
int main(int argc, const char** argv) {
// print help if arguments are missing
if (argc<2) {
return finish(helpstring);
}
// get filename, check file type
std::string filename(argv[1]);
if (filename.find(".xml")==std::string::npos) {
return finish("xml model file is required");
}
// load model
char error[1000];
mjModel* m = mj_loadXML(argv[1], 0, error, 1000);
if (!m) {
return finish(error);
}
// make data
mjData* d = mj_makeData(m);
if (!d) {
return finish("Could not allocate mjData", m);
}
// prepare temp filename in the same directory as original (for asset loading)
std::string tempfile;
std::size_t lastpath = filename.find_last_of("/\\");
if (lastpath==std::string::npos) {
tempfile = "_tempfile_.xml";
} else {
tempfile = filename.substr(0, lastpath+1) + "_tempfile_.xml";
}
// save
if (!mj_saveLastXML(tempfile.c_str(), m, error, 1000)) {
return finish(error, m, d);
}
// load back
mjModel* mtemp = mj_loadXML(tempfile.c_str(), 0, error, 100);
if (!mtemp) {
return finish(error, m, d);
}
// compare
char field[kFieldSize] = "";
mjtNum result = compareModel(m, mtemp, field);
std::printf("\nComparison of original and saved model\n");
std::printf(" Max difference : %.3g\n", result);
std::printf(" Field name : %s\n", field);
// delete temp model and file
mj_deleteModel(mtemp);
remove(tempfile.c_str());
// finalize
return finish();
}