Alessio Quaglino
0643017346
PiperOrigin-RevId: 720628689 Change-Id: I189aa34973e58b9fb87951e34cb923d94e081a55
1084 lines
36 KiB
Python
1084 lines
36 KiB
Python
# Copyright 2024 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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# ==============================================================================
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"""Tests for mjSpec bindings."""
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import inspect
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import os
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import textwrap
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import zipfile
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from absl.testing import absltest
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from etils import epath
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import mujoco
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import numpy as np
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def get_linenumber():
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cf = inspect.currentframe()
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return cf.f_back.f_lineno
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class SpecsTest(absltest.TestCase):
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def test_basic(self):
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# Create a spec.
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spec = mujoco.MjSpec()
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# Check that euler sequence order is set correctly.
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self.assertEqual(spec.compiler.eulerseq[0], 'x')
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spec.compiler.eulerseq = ['z', 'y', 'x']
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self.assertEqual(spec.compiler.eulerseq[0], 'z')
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# Change single elements of euler sequence.
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spec.compiler.eulerseq[0] = 'y'
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spec.compiler.eulerseq[1] = 'z'
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self.assertEqual(spec.compiler.eulerseq[0], 'y')
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self.assertEqual(spec.compiler.eulerseq[1], 'z')
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# eulerseq is iterable
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self.assertEqual('yzx', ''.join(spec.compiler.eulerseq))
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# supports `len`
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self.assertLen(spec.compiler.eulerseq, 3)
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# field checks for out-of-bound access on read and on write
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with self.assertRaises(IndexError):
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spec.compiler.eulerseq[3] = 'x'
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with self.assertRaises(IndexError):
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spec.compiler.eulerseq[-1] = 'x'
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# Add a body, check that it has default orientation.
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body = spec.worldbody.add_body()
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self.assertEqual(body.name, '')
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np.testing.assert_array_equal(body.quat, [1, 0, 0, 0])
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# Change the name of the body and read it back twice.
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body.name = 'foobar'
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self.assertEqual(body.name, 'foobar')
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body.name = 'baz'
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self.assertEqual(body.name, 'baz')
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# Change the position of the body and read it back.
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body.pos = [4, 2, 3]
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np.testing.assert_array_equal(body.pos, [4, 2, 3])
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self.assertEqual(body.pos.shape, (3,))
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# Change single element of position.
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body.pos[0] = 1
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np.testing.assert_array_equal(body.pos, [1, 2, 3])
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# Change the orientation of the body and read it back.
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body.quat = [0, 1, 0, 0]
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np.testing.assert_array_equal(body.quat, [0, 1, 0, 0])
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self.assertEqual(body.quat.shape, (4,))
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# Add a site to the body with user data and read it back.
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site = body.add_site()
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site.name = 'sitename'
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site.type = mujoco.mjtGeom.mjGEOM_BOX
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site.userdata = [1, 2, 3, 4, 5, 6]
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self.assertEqual(site.name, 'sitename')
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self.assertEqual(site.type, mujoco.mjtGeom.mjGEOM_BOX)
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np.testing.assert_array_equal(site.userdata, [1, 2, 3, 4, 5, 6])
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# Compile the spec and check for expected values in the model.
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model = spec.compile()
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data = mujoco.MjData(model)
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mujoco.mj_forward(model, data)
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self.assertEqual(model.nbody, 2) # 2 bodies, including the world body
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np.testing.assert_array_equal(model.bind(body).pos, [1, 2, 3])
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np.testing.assert_array_equal(model.bind(body).quat, [0, 1, 0, 0])
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np.testing.assert_array_equal(data.bind(body).xpos, [1, 2, 3])
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self.assertEqual(model.nsite, 1)
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self.assertEqual(model.nuser_site, 6)
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np.testing.assert_array_equal(model.site_user[0], [1, 2, 3, 4, 5, 6])
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self.assertEqual(
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spec.to_xml(),
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textwrap.dedent("""\
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<mujoco model="MuJoCo Model">
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<compiler angle="radian"/>
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<size nuser_site="6"/>
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<worldbody>
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<body name="baz" pos="1 2 3" quat="0 1 0 0">
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<site name="sitename" pos="0 0 0" type="box" user="1 2 3 4 5 6"/>
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</body>
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</worldbody>
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</mujoco>
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"""),
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)
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def test_kwarg(self):
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# Create a spec.
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spec = mujoco.MjSpec()
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# Add material.
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material = spec.add_material(texrepeat=[1, 2], emission=-1)
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np.testing.assert_array_equal(material.texrepeat, [1, 2])
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self.assertEqual(material.emission, -1)
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# Add mesh.
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mesh = spec.add_mesh(refpos=[1, 2, 3])
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np.testing.assert_array_equal(mesh.refpos, [1, 2, 3])
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# Add pair.
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pair = spec.add_pair(gap=0.1)
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self.assertEqual(pair.gap, 0.1)
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# Add equality.
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equality = spec.add_equality(objtype=mujoco.mjtObj.mjOBJ_SITE)
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self.assertEqual(equality.objtype, mujoco.mjtObj.mjOBJ_SITE)
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# Add tendon.
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tendon = spec.add_tendon(stiffness=2, springlength=[0.1, 0.2])
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self.assertEqual(tendon.stiffness, 2)
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np.testing.assert_array_equal(tendon.springlength, [0.1, 0.2])
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# Add actuator.
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actuator = spec.add_actuator(actdim=10, ctrlrange=[-1, 10])
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self.assertEqual(actuator.actdim, 10)
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np.testing.assert_array_equal(actuator.ctrlrange, [-1, 10])
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# Add skin.
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skin = spec.add_skin(inflate=2.0, vertid=[[1, 1], [2, 2]])
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self.assertEqual(skin.inflate, 2.0)
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np.testing.assert_array_equal(skin.vertid, [[1, 1], [2, 2]])
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# Add texture.
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texture = spec.add_texture(builtin=0, nchannel=3)
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self.assertEqual(texture.builtin, 0)
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self.assertEqual(texture.nchannel, 3)
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# Add text.
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text = spec.add_text(data='data', info='info')
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self.assertEqual(text.data, 'data')
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self.assertEqual(text.info, 'info')
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# Add tuple.
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tuple_ = spec.add_tuple(objprm=[2.0, 3.0, 5.0], objname=['obj'])
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np.testing.assert_array_equal(tuple_.objprm, [2.0, 3.0, 5.0])
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self.assertEqual(tuple_.objname[0], 'obj')
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# Add flex.
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flex = spec.add_flex(friction=[1, 2, 3], texcoord=[1.0, 2.0, 3.0])
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np.testing.assert_array_equal(flex.friction, [1, 2, 3])
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np.testing.assert_array_equal(flex.texcoord, [1.0, 2.0, 3.0])
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# Add hfield.
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hfield = spec.add_hfield(nrow=2, content_type='type')
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self.assertEqual(hfield.nrow, 2)
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self.assertEqual(hfield.content_type, 'type')
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# Add key.
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key = spec.add_key(time=1.2, qpos=[1.0, 2.0])
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self.assertEqual(key.time, 1.2)
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np.testing.assert_array_equal(key.qpos, [1.0, 2.0])
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# Add numeric.
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numeric = spec.add_numeric(data=[1.0, 1.1, 1.2], size=2)
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np.testing.assert_array_equal(numeric.data, [1.0, 1.1, 1.2])
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self.assertEqual(numeric.size, 2)
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# Add exclude.
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exclude = spec.add_exclude(bodyname2='body2')
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self.assertEqual(exclude.bodyname2, 'body2')
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# Add sensor.
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sensor = spec.add_sensor(
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needstage=mujoco.mjtStage.mjSTAGE_ACC, objtype=mujoco.mjtObj.mjOBJ_SITE
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)
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self.assertEqual(sensor.needstage, mujoco.mjtStage.mjSTAGE_ACC)
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self.assertEqual(sensor.objtype, mujoco.mjtObj.mjOBJ_SITE)
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# Add plugin.
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plugin = spec.add_plugin(
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name='instance_name',
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plugin_name='mujoco.plugin',
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active=True,
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info='info',
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)
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self.assertEqual(plugin.name, 'instance_name')
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self.assertEqual(plugin.plugin_name, 'mujoco.plugin')
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self.assertEqual(plugin.active, True)
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self.assertEqual(plugin.info, 'info')
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# Add a body.
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body = spec.worldbody.add_body(
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name='body', pos=[1, 2, 3], quat=[0, 0, 0, 1]
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)
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self.assertEqual(body.name, 'body')
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np.testing.assert_array_equal(body.pos, [1, 2, 3])
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np.testing.assert_array_equal(body.quat, [0, 0, 0, 1])
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# Add a body with a plugin.
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body_with_plugin = spec.worldbody.add_body(plugin=plugin)
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self.assertEqual(body_with_plugin.plugin.name, 'instance_name')
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self.assertEqual(body_with_plugin.plugin.plugin_name, 'mujoco.plugin')
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self.assertEqual(body_with_plugin.plugin.active, True)
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self.assertEqual(body_with_plugin.plugin.info, 'info')
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# Add a geom.
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geom = body.add_geom(
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name='geom',
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pos=[3, 2, 1],
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fromto=[1, 2, 3, 4, 5, 6],
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contype=3,
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)
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self.assertEqual(geom.name, 'geom')
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np.testing.assert_array_equal(geom.pos, [3, 2, 1])
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np.testing.assert_array_equal(geom.fromto, [1, 2, 3, 4, 5, 6])
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self.assertEqual(geom.contype, 3)
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# Add a site to the body with user data and read it back.
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site = body.add_site(
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name='sitename',
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pos=[0, 1, 2],
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quat=[1, 0, 0, 0],
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fromto=[0, 1, 2, 3, 4, 5],
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size=[3, 2, 1],
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type=mujoco.mjtGeom.mjGEOM_BOX,
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material='material',
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group=7,
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rgba=[1, 1, 1, 0.5],
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userdata=[1, 2, 3, 4, 5, 6],
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info='info',
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)
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self.assertEqual(site.name, 'sitename')
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np.testing.assert_array_equal(site.pos, [0, 1, 2])
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np.testing.assert_array_equal(site.quat, [1, 0, 0, 0])
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np.testing.assert_array_equal(site.fromto, [0, 1, 2, 3, 4, 5])
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np.testing.assert_array_equal(site.size, [3, 2, 1])
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self.assertEqual(site.type, mujoco.mjtGeom.mjGEOM_BOX)
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self.assertEqual(site.material, 'material')
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self.assertEqual(site.group, 7)
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np.testing.assert_array_equal(site.rgba, [1, 1, 1, 0.5])
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np.testing.assert_array_equal(site.userdata, [1, 2, 3, 4, 5, 6])
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self.assertEqual(site.info, 'info')
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# Add camera.
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cam = body.add_camera(orthographic=1, resolution=[10, 20])
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self.assertEqual(cam.orthographic, 1)
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np.testing.assert_array_equal(cam.resolution, [10, 20])
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# Add frame.
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framea0 = body.add_frame(name='framea', pos=[1, 2, 3], quat=[0, 0, 0, 1])
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np.testing.assert_array_equal(framea0.pos, [1, 2, 3])
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np.testing.assert_array_equal(framea0.quat, [0, 0, 0, 1])
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frameb0 = body.add_frame(
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framea0, name='frameb', pos=[4, 5, 6], quat=[0, 1, 0, 0]
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)
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framea1 = body.first_frame()
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frameb1 = body.next_frame(framea1)
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self.assertEqual(framea1.name, framea0.name)
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self.assertEqual(frameb1.name, frameb0.name)
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np.testing.assert_array_equal(framea1.pos, framea0.pos)
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np.testing.assert_array_equal(framea1.quat, framea0.quat)
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np.testing.assert_array_equal(frameb1.pos, frameb0.pos)
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np.testing.assert_array_equal(frameb1.quat, frameb0.quat)
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# Add joint.
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joint = body.add_joint(type=mujoco.mjtJoint.mjJNT_HINGE, axis=[0, 1, 0])
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self.assertEqual(joint.type, mujoco.mjtJoint.mjJNT_HINGE)
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np.testing.assert_array_equal(joint.axis, [0, 1, 0])
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# Add freejoint.
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freejoint = body.add_freejoint()
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self.assertEqual(freejoint.type, mujoco.mjtJoint.mjJNT_FREE)
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freejoint_align = body.add_freejoint(align=True)
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self.assertEqual(freejoint_align.align, True)
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with self.assertRaises(TypeError) as cm:
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body.add_freejoint(axis=[1, 2, 3])
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self.assertEqual(
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str(cm.exception),
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'Invalid axis keyword argument. Valid options are: align, group, name.',
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)
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# Add light.
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light = body.add_light(attenuation=[1, 2, 3])
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np.testing.assert_array_equal(light.attenuation, [1, 2, 3])
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# Invalid input for valid keyword argument.
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with self.assertRaises(ValueError) as cm:
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body.add_geom(pos='pos')
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self.assertEqual(
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str(cm.exception),
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'pos should be a list/array.',
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)
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with self.assertRaises(ValueError) as cm:
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body.add_geom(pos=[0, 1])
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self.assertEqual(
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str(cm.exception),
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'pos should be a list/array of size 3.',
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)
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with self.assertRaises(ValueError) as cm:
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body.add_geom(type='type')
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self.assertEqual(
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str(cm.exception),
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'type is the wrong type.',
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)
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with self.assertRaises(ValueError) as cm:
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body.add_geom(userdata='')
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self.assertEqual(
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str(cm.exception),
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'userdata has the wrong type.',
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)
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# Invalid keyword argument.
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with self.assertRaises(TypeError) as cm:
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body.add_geom(vel='vel')
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self.assertEqual(
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str(cm.exception),
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'Invalid vel keyword argument. Valid options are: name, type, pos,'
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' quat, axisangle, xyaxes, zaxis, euler, fromto, size, contype,'
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' conaffinity, condim, priority, friction, solmix, solref, solimp,'
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' margin, gap, mass, density, typeinertia, fluid_ellipsoid,'
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' fluid_coefs, material, rgba, group, hfieldname, meshname, fitscale,'
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' userdata, plugin, info.',
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)
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# Orientation keyword arguments.
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geom_axisangle = body.add_geom(axisangle=[1, 2, 3, 4])
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geom_xyaxes = body.add_geom(xyaxes=[1, 2, 3, 4, 5, 6])
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geom_zaxis = body.add_geom(zaxis=[1, 2, 3])
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geom_euler = body.add_geom(euler=[1, 2, 3])
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self.assertEqual(
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geom_axisangle.alt.type, mujoco.mjtOrientation.mjORIENTATION_AXISANGLE
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)
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self.assertEqual(
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geom_xyaxes.alt.type, mujoco.mjtOrientation.mjORIENTATION_XYAXES
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)
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self.assertEqual(
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geom_zaxis.alt.type, mujoco.mjtOrientation.mjORIENTATION_ZAXIS
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)
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self.assertEqual(
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geom_euler.alt.type, mujoco.mjtOrientation.mjORIENTATION_EULER
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)
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np.testing.assert_array_equal(geom_axisangle.alt.axisangle, [1, 2, 3, 4])
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np.testing.assert_array_equal(geom_xyaxes.alt.xyaxes, [1, 2, 3, 4, 5, 6])
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np.testing.assert_array_equal(geom_zaxis.alt.zaxis, [1, 2, 3])
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np.testing.assert_array_equal(geom_euler.alt.euler, [1, 2, 3])
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body_iaxisangle = spec.worldbody.add_body(iaxisangle=[1, 2, 3, 4])
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body_ixyaxes = spec.worldbody.add_body(ixyaxes=[1, 2, 3, 4, 5, 6])
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body_izaxis = spec.worldbody.add_body(izaxis=[1, 2, 3])
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body_ieuler = spec.worldbody.add_body(ieuler=[1, 2, 3])
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body_euler_ieuler = spec.worldbody.add_body(
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euler=[1, 2, 3], ieuler=[4, 5, 6]
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)
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np.testing.assert_array_equal(body_iaxisangle.ialt.axisangle, [1, 2, 3, 4])
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np.testing.assert_array_equal(body_ixyaxes.ialt.xyaxes, [1, 2, 3, 4, 5, 6])
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np.testing.assert_array_equal(body_izaxis.ialt.zaxis, [1, 2, 3])
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np.testing.assert_array_equal(body_ieuler.ialt.euler, [1, 2, 3])
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np.testing.assert_array_equal(body_euler_ieuler.alt.euler, [1, 2, 3])
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np.testing.assert_array_equal(body_euler_ieuler.ialt.euler, [4, 5, 6])
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# Test invalid orientation keyword arguments.
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with self.assertRaises(ValueError) as cm:
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body.add_geom(axisangle=[1, 2, 3])
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self.assertEqual(
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str(cm.exception),
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'axisangle should be a list/array of size 4.',
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)
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with self.assertRaises(ValueError) as cm:
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body.add_geom(xyaxes=[1, 2, 3, 4, 5])
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self.assertEqual(
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str(cm.exception),
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'xyaxes should be a list/array of size 6.',
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)
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with self.assertRaises(ValueError) as cm:
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body.add_geom(zaxis=[1, 2, 3, 4])
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self.assertEqual(
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str(cm.exception),
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'zaxis should be a list/array of size 3.',
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)
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with self.assertRaises(ValueError) as cm:
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body.add_geom(euler=[1])
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self.assertEqual(
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str(cm.exception),
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'euler should be a list/array of size 3.',
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)
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with self.assertRaises(ValueError) as cm:
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body.add_geom(axisangle=[1, 2, 3, 4], euler=[1, 2, 3])
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self.assertEqual(
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str(cm.exception),
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'Only one of: axisangle, xyaxes, zaxis, oreuler can be set.',
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)
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with self.assertRaises(ValueError) as cm:
|
|
spec.worldbody.add_body(iaxisangle=[1, 2, 3, 4], ieuler=[1, 2, 3])
|
|
self.assertEqual(
|
|
str(cm.exception),
|
|
'Only one of: iaxisangle, ixyaxes, izaxis, orieuler can be set.',
|
|
)
|
|
|
|
def test_load_xml(self):
|
|
file_path = epath.resource_path("mujoco") / "testdata" / "model.xml"
|
|
filename = file_path.as_posix()
|
|
state_type = mujoco.mjtState.mjSTATE_INTEGRATION
|
|
|
|
# Load from file.
|
|
spec1 = mujoco.MjSpec.from_file(filename)
|
|
model1 = spec1.compile()
|
|
data1 = mujoco.MjData(model1)
|
|
mujoco.mj_step(model1, data1)
|
|
size1 = mujoco.mj_stateSize(model1, state_type)
|
|
state1 = np.empty(size1, np.float64)
|
|
mujoco.mj_getState(model1, data1, state1, state_type)
|
|
|
|
# Load from string.
|
|
with open(filename, 'r') as file:
|
|
spec2 = mujoco.MjSpec.from_string(file.read().rstrip())
|
|
model2 = spec2.compile()
|
|
data2 = mujoco.MjData(model2)
|
|
mujoco.mj_step(model2, data2)
|
|
size2 = mujoco.mj_stateSize(model2, state_type)
|
|
state2 = np.empty(size2, np.float64)
|
|
mujoco.mj_getState(model2, data2, state2, state_type)
|
|
|
|
# Check that the state is the same.
|
|
np.testing.assert_array_equal(state1, state2)
|
|
|
|
def test_compile_errors_with_line_info(self):
|
|
spec = mujoco.MjSpec()
|
|
|
|
added_on_line = get_linenumber() + 1
|
|
geom = spec.worldbody.add_geom()
|
|
geom.name = 'MyGeom'
|
|
geom.info = f'geom added on line {added_on_line}'
|
|
|
|
# Try to compile, get error.
|
|
expected_error = (
|
|
'Error: size 0 must be positive in geom\n'
|
|
+ f"Element name 'MyGeom', id 0, geom added on line {added_on_line}"
|
|
)
|
|
with self.assertRaisesRegex(ValueError, expected_error):
|
|
spec.compile()
|
|
|
|
def test_recompile(self):
|
|
# Create a spec.
|
|
spec = mujoco.MjSpec()
|
|
|
|
# Add movable body1.
|
|
body1 = spec.worldbody.add_body()
|
|
geom = body1.add_geom()
|
|
geom.size[0] = 1
|
|
geom.pos = [1, 1, 0]
|
|
joint = body1.add_joint()
|
|
joint.type = mujoco.mjtJoint.mjJNT_BALL
|
|
|
|
# Compile model, make data.
|
|
model = spec.compile()
|
|
data = mujoco.MjData(model)
|
|
|
|
# Simulate for 1 second.
|
|
while data.time < 1:
|
|
mujoco.mj_step(model, data)
|
|
|
|
# Add movable body2.
|
|
body2 = spec.worldbody.add_body()
|
|
body2.pos[1] = 3
|
|
geom = body2.add_geom()
|
|
geom.size[0] = 1
|
|
geom.pos = [0, 1, 0]
|
|
joint = body2.add_joint()
|
|
joint.type = mujoco.mjtJoint.mjJNT_BALL
|
|
|
|
# Recompile model and data while maintaining the state.
|
|
model_new, data_new = spec.recompile(model, data)
|
|
|
|
# Check that the state is preserved.
|
|
np.testing.assert_array_equal(model_new.body_pos[1], model.body_pos[1])
|
|
np.testing.assert_array_equal(data_new.qpos[:4], data.qpos)
|
|
np.testing.assert_array_equal(data_new.qvel[:3], data.qvel)
|
|
|
|
def test_uncompiled_spec_cannot_be_written(self):
|
|
spec = mujoco.MjSpec()
|
|
|
|
# Cannot write XML of an uncompiled spec.
|
|
expected_error = 'XML Write error: Only compiled model can be written'
|
|
with self.assertRaisesWithLiteralMatch(mujoco.FatalError, expected_error):
|
|
spec.to_xml()
|
|
|
|
def test_modelname_default_class(self):
|
|
spec = mujoco.MjSpec()
|
|
spec.modelname = 'test'
|
|
|
|
main = spec.default()
|
|
main.geom.size[0] = 2
|
|
|
|
def1 = spec.add_default('def1', main)
|
|
def1.geom.size[0] = 3
|
|
|
|
spec.worldbody.add_geom(def1)
|
|
spec.worldbody.add_geom(main)
|
|
|
|
spec.compile()
|
|
self.assertEqual(
|
|
spec.to_xml(),
|
|
textwrap.dedent("""\
|
|
<mujoco model="test">
|
|
<compiler angle="radian"/>
|
|
|
|
<default>
|
|
<geom size="2 0 0"/>
|
|
<default class="def1">
|
|
<geom size="3 0 0"/>
|
|
</default>
|
|
</default>
|
|
|
|
<worldbody>
|
|
<geom class="def1"/>
|
|
<geom/>
|
|
</worldbody>
|
|
</mujoco>
|
|
"""),
|
|
)
|
|
spec = mujoco.MjSpec()
|
|
spec.modelname = 'test'
|
|
|
|
main = spec.default()
|
|
main.geom.size[0] = 2
|
|
|
|
def1 = spec.add_default('def1', main)
|
|
def1.geom.size[0] = 3
|
|
|
|
spec.worldbody.add_geom(def1)
|
|
spec.worldbody.add_geom(main)
|
|
|
|
spec.compile()
|
|
self.assertEqual(
|
|
spec.to_xml(),
|
|
textwrap.dedent("""\
|
|
<mujoco model="test">
|
|
<compiler angle="radian"/>
|
|
|
|
<default>
|
|
<geom size="2 0 0"/>
|
|
<default class="def1">
|
|
<geom size="3 0 0"/>
|
|
</default>
|
|
</default>
|
|
|
|
<worldbody>
|
|
<geom class="def1"/>
|
|
<geom/>
|
|
</worldbody>
|
|
</mujoco>
|
|
"""),
|
|
)
|
|
|
|
def test_element_list(self):
|
|
spec = mujoco.MjSpec()
|
|
sensor1 = spec.add_sensor()
|
|
sensor2 = spec.add_sensor()
|
|
sensor3 = spec.add_sensor()
|
|
actuator1 = spec.add_actuator()
|
|
actuator2 = spec.add_actuator()
|
|
actuator3 = spec.add_actuator()
|
|
sensor1.name = 'sensor1'
|
|
sensor2.name = 'sensor2'
|
|
sensor3.name = 'sensor3'
|
|
actuator1.name = 'actuator1'
|
|
actuator2.name = 'actuator2'
|
|
actuator3.name = 'actuator3'
|
|
self.assertLen(spec.sensors, 3)
|
|
self.assertLen(spec.actuators, 3)
|
|
self.assertEqual(spec.sensors[0].name, 'sensor1')
|
|
self.assertEqual(spec.sensors[1].name, 'sensor2')
|
|
self.assertEqual(spec.sensors[2].name, 'sensor3')
|
|
self.assertEqual(spec.actuators[0].name, 'actuator1')
|
|
self.assertEqual(spec.actuators[1].name, 'actuator2')
|
|
self.assertEqual(spec.actuators[2].name, 'actuator3')
|
|
self.assertEqual(spec.find_sensor('sensor1'), sensor1)
|
|
self.assertEqual(spec.find_sensor('sensor2'), sensor2)
|
|
self.assertEqual(spec.find_sensor('sensor3'), sensor3)
|
|
self.assertEqual(spec.find_actuator('actuator1'), actuator1)
|
|
self.assertEqual(spec.find_actuator('actuator2'), actuator2)
|
|
self.assertEqual(spec.find_actuator('actuator3'), actuator3)
|
|
|
|
def test_body_list(self):
|
|
main_xml = """
|
|
<mujoco>
|
|
<worldbody>
|
|
<body name="body1">
|
|
<body name="body3">
|
|
<site name="site1"/>
|
|
<site name="site2"/>
|
|
<site name="site3"/>
|
|
<site name="site4"/>
|
|
<body name="body4">
|
|
<site name="site5"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="body2"/>
|
|
</worldbody>
|
|
</mujoco>
|
|
"""
|
|
spec = mujoco.MjSpec.from_string(main_xml)
|
|
bodytype = mujoco.mjtObj.mjOBJ_BODY
|
|
self.assertLen(spec.bodies, 5)
|
|
self.assertLen(spec.sites, 5)
|
|
self.assertLen(spec.worldbody.find_all('body'), 4)
|
|
self.assertLen(spec.worldbody.find_all('site'), 5)
|
|
self.assertEqual(spec.bodies[1].name, 'body1')
|
|
self.assertEqual(spec.bodies[2].name, 'body2')
|
|
self.assertEqual(spec.bodies[3].name, 'body3')
|
|
self.assertEqual(spec.bodies[4].name, 'body4')
|
|
self.assertEqual(spec.bodies[1].parent, spec.worldbody)
|
|
self.assertEqual(spec.bodies[2].parent, spec.worldbody)
|
|
self.assertEqual(spec.bodies[3].parent, spec.bodies[1])
|
|
self.assertEqual(spec.bodies[4].parent, spec.bodies[3])
|
|
self.assertLen(spec.worldbody.find_all(bodytype), 4)
|
|
self.assertLen(spec.bodies[1].find_all(bodytype), 2)
|
|
self.assertLen(spec.bodies[3].find_all(bodytype), 1)
|
|
self.assertEqual(spec.worldbody.find_all('body')[0].name, 'body1')
|
|
self.assertEqual(spec.worldbody.find_all('body')[1].name, 'body2')
|
|
self.assertEqual(spec.worldbody.find_all('body')[2].name, 'body3')
|
|
self.assertEqual(spec.worldbody.find_all('body')[3].name, 'body4')
|
|
self.assertEqual(spec.bodies[1].find_all('body')[0].name, 'body3')
|
|
self.assertEqual(spec.bodies[1].find_all('body')[1].name, 'body4')
|
|
self.assertEqual(spec.bodies[3].find_all('body')[0].name, 'body4')
|
|
self.assertEmpty(spec.bodies[2].find_all('body'))
|
|
self.assertEmpty(spec.bodies[4].find_all('body'))
|
|
self.assertEqual(spec.worldbody.find_all('site')[0].name, 'site1')
|
|
self.assertEqual(spec.worldbody.find_all('site')[1].name, 'site2')
|
|
self.assertEqual(spec.worldbody.find_all('site')[2].name, 'site3')
|
|
self.assertEqual(spec.worldbody.find_all('site')[3].name, 'site4')
|
|
self.assertEqual(spec.worldbody.find_all('site')[4].name, 'site5')
|
|
self.assertEmpty(spec.bodies[2].sites)
|
|
self.assertLen(spec.bodies[3].sites, 4)
|
|
self.assertLen(spec.bodies[4].sites, 1)
|
|
self.assertEqual(spec.bodies[3].sites[0].name, 'site1')
|
|
self.assertEqual(spec.bodies[3].sites[1].name, 'site2')
|
|
self.assertEqual(spec.bodies[3].sites[2].name, 'site3')
|
|
self.assertEqual(spec.bodies[3].sites[3].name, 'site4')
|
|
self.assertEqual(spec.bodies[4].sites[0].name, 'site5')
|
|
self.assertEqual(spec.bodies[3].sites[0].parent, spec.bodies[3])
|
|
self.assertEqual(spec.bodies[3].sites[1].parent, spec.bodies[3])
|
|
self.assertEqual(spec.bodies[3].sites[2].parent, spec.bodies[3])
|
|
self.assertEqual(spec.bodies[3].sites[3].parent, spec.bodies[3])
|
|
self.assertEqual(spec.bodies[4].sites[0].parent, spec.bodies[4])
|
|
with self.assertRaises(ValueError) as cm:
|
|
spec.worldbody.find_all('actuator')
|
|
self.assertEqual(
|
|
str(cm.exception),
|
|
'body.find_all supports the types: body, frame, geom, site,'
|
|
' joint, light, camera.',
|
|
)
|
|
body4 = spec.worldbody.find_all('body')[3]
|
|
body4.name = 'body4_new'
|
|
self.assertEqual(spec.bodies[4].name, 'body4_new')
|
|
|
|
def test_geom_list(self):
|
|
main_xml = """
|
|
<mujoco>
|
|
<worldbody>
|
|
<body name="body1"/>
|
|
</worldbody>
|
|
</mujoco>
|
|
"""
|
|
spec = mujoco.MjSpec.from_string(main_xml)
|
|
geom1 = spec.worldbody.add_geom(name='geom1')
|
|
geom2 = spec.worldbody.add_geom(name='geom2')
|
|
geom3 = spec.find_body('body1').add_geom(name='geom3')
|
|
|
|
self.assertEqual(spec.geoms, [geom1, geom2, geom3])
|
|
self.assertEqual(spec.find_geom('geom1'), geom1)
|
|
self.assertEqual(spec.find_geom('geom2'), geom2)
|
|
self.assertEqual(spec.find_geom('geom3'), geom3)
|
|
|
|
def test_iterators(self):
|
|
spec = mujoco.MjSpec()
|
|
geom1 = spec.worldbody.add_geom()
|
|
geom2 = spec.worldbody.add_geom()
|
|
geom3 = spec.worldbody.add_geom()
|
|
geom1.name = 'geom1'
|
|
geom2.name = 'geom2'
|
|
geom3.name = 'geom3'
|
|
geom = spec.worldbody.first_geom()
|
|
i = 1
|
|
while geom:
|
|
self.assertEqual(geom.name, 'geom' + str(i))
|
|
geom = spec.worldbody.next_geom(geom)
|
|
i += 1
|
|
|
|
def test_assets(self):
|
|
cube = """
|
|
v -1 -1 1
|
|
v 1 -1 1
|
|
v -1 1 1
|
|
v 1 1 1
|
|
v -1 1 -1
|
|
v 1 1 -1
|
|
v -1 -1 -1
|
|
v 1 -1 -1"""
|
|
spec = mujoco.MjSpec()
|
|
spec.modelname = 'test'
|
|
mesh = spec.add_mesh()
|
|
mesh.name = 'cube'
|
|
mesh.file = 'cube.obj'
|
|
geom = spec.worldbody.add_geom()
|
|
geom.type = mujoco.mjtGeom.mjGEOM_MESH
|
|
geom.meshname = 'cube'
|
|
spec.assets = {'cube.obj': cube}
|
|
model = spec.compile()
|
|
self.assertEqual(model.nmeshvert, 8)
|
|
self.assertEqual(spec.assets['cube.obj'], cube)
|
|
|
|
xml = """
|
|
<mujoco model="test">
|
|
<asset>
|
|
<mesh name="cube" file="cube.obj"/>
|
|
</asset>
|
|
<worldbody>
|
|
<geom mesh="cube"/>
|
|
</worldbody>
|
|
</mujoco>
|
|
"""
|
|
assets = {'cube.obj': cube}
|
|
spec = mujoco.MjSpec.from_string(xml, assets=assets)
|
|
model = spec.compile()
|
|
self.assertEqual(model.nmeshvert, 8)
|
|
self.assertEqual(spec.assets['cube.obj'], cube)
|
|
|
|
def test_include(self):
|
|
included_xml = """
|
|
<mujoco>
|
|
<worldbody>
|
|
<body>
|
|
<geom type="box" size="1 1 1"/>
|
|
</body>
|
|
</worldbody>
|
|
</mujoco>
|
|
"""
|
|
spec = mujoco.MjSpec.from_string(
|
|
textwrap.dedent("""
|
|
<mujoco model="MuJoCo Model">
|
|
<include file="included.xml"/>
|
|
</mujoco>
|
|
"""),
|
|
include={'included.xml': included_xml.encode('utf-8')},
|
|
)
|
|
self.assertEqual(
|
|
spec.worldbody.first_body().first_geom().type, mujoco.mjtGeom.mjGEOM_BOX
|
|
)
|
|
|
|
def test_delete(self):
|
|
file_path = epath.resource_path("mujoco") / "testdata" / "model.xml"
|
|
spec = mujoco.MjSpec.from_file(file_path.as_posix())
|
|
|
|
model = spec.compile()
|
|
self.assertIsNotNone(model)
|
|
self.assertEqual(model.nsite, 11)
|
|
self.assertEqual(model.nsensor, 11)
|
|
|
|
head = spec.find_body('head')
|
|
self.assertIsNotNone(head)
|
|
site = head.first_site()
|
|
self.assertIsNotNone(site)
|
|
self.assertEqual(site, spec.find_site('head'))
|
|
|
|
site.delete()
|
|
spec.sensors[-1].delete()
|
|
spec.sensors[-1].delete()
|
|
|
|
model = spec.compile()
|
|
self.assertIsNotNone(model)
|
|
self.assertEqual(model.nsite, 10)
|
|
self.assertEqual(model.nsensor, 9)
|
|
|
|
def test_plugin(self):
|
|
xml = """
|
|
<mujoco>
|
|
<extension>
|
|
<plugin plugin="mujoco.elasticity.cable"/>
|
|
</extension>
|
|
</mujoco>
|
|
"""
|
|
|
|
spec = mujoco.MjSpec.from_string(xml)
|
|
self.assertIsNotNone(spec.worldbody)
|
|
|
|
body = spec.worldbody.add_body()
|
|
body.plugin.plugin_name = 'mujoco.elasticity.cable'
|
|
body.plugin.id = spec.add_plugin()
|
|
body.plugin.active = True
|
|
self.assertEqual(body.plugin.id, 0)
|
|
|
|
geom = body.add_geom()
|
|
geom.type = mujoco.mjtGeom.mjGEOM_BOX
|
|
geom.size[0] = 1
|
|
geom.size[1] = 1
|
|
geom.size[2] = 1
|
|
|
|
model = spec.compile()
|
|
self.assertIsNotNone(model)
|
|
self.assertEqual(model.nplugin, 1)
|
|
self.assertEqual(model.body_plugin[1], 0)
|
|
|
|
def test_recompile_error(self):
|
|
main_xml = """
|
|
<mujoco>
|
|
<worldbody>
|
|
<body>
|
|
<geom size="0.1"/>
|
|
</body>
|
|
</worldbody>
|
|
</mujoco>
|
|
"""
|
|
|
|
spec = mujoco.MjSpec.from_string(main_xml)
|
|
model = spec.compile()
|
|
data = mujoco.MjData(model)
|
|
|
|
spec.add_material().name = 'yellow'
|
|
spec.add_material().name = 'yellow'
|
|
|
|
with self.assertRaisesRegex(
|
|
ValueError, "Error: repeated name 'yellow' in material"
|
|
):
|
|
spec.recompile(model, data)
|
|
|
|
def test_delete_unused_plugin(self):
|
|
spec = mujoco.MjSpec.from_string("""
|
|
<mujoco model="MuJoCo Model">
|
|
<extension>
|
|
<plugin plugin="mujoco.pid">
|
|
<instance name="pid1">
|
|
<config key="kp" value="4.0"/>
|
|
</instance>
|
|
</plugin>
|
|
</extension>
|
|
|
|
<worldbody>
|
|
<body>
|
|
<geom size="1"/>
|
|
</body>
|
|
</worldbody>
|
|
</mujoco>
|
|
""")
|
|
plugin = spec.plugins[0]
|
|
self.assertIsNotNone(plugin)
|
|
plugin.delete()
|
|
|
|
model = spec.compile()
|
|
self.assertIsNotNone(model)
|
|
self.assertEqual(model.nplugin, 0)
|
|
|
|
def test_access_option_stat_visual(self):
|
|
spec = mujoco.MjSpec.from_string("""
|
|
<mujoco model="MuJoCo Model">
|
|
<option timestep="0.001"/>
|
|
<statistic meansize="0.05"/>
|
|
<visual>
|
|
<quality shadowsize="4096"/>
|
|
</visual>
|
|
</mujoco>
|
|
""")
|
|
self.assertEqual(spec.option.timestep, 0.001)
|
|
self.assertEqual(spec.stat.meansize, 0.05)
|
|
self.assertEqual(spec.visual.quality.shadowsize, 4096)
|
|
|
|
spec.option.timestep = 0.002
|
|
spec.stat.meansize = 0.06
|
|
spec.visual.quality.shadowsize = 8192
|
|
|
|
model = spec.compile()
|
|
|
|
self.assertEqual(model.opt.timestep, 0.002)
|
|
self.assertEqual(model.stat.meansize, 0.06)
|
|
self.assertEqual(model.vis.quality.shadowsize, 8192)
|
|
|
|
def test_assign_list_element(self):
|
|
spec = mujoco.MjSpec()
|
|
material = spec.add_material()
|
|
texture_index = mujoco.mjtTextureRole.mjTEXROLE_RGB
|
|
|
|
# Assign a string to a list element.
|
|
material.textures[texture_index] = 'texture_name'
|
|
self.assertEqual(material.textures[texture_index], 'texture_name')
|
|
|
|
# Assign a complete list
|
|
material.textures = ['', 'new_name', '', '', '']
|
|
self.assertEqual(material.textures[texture_index], 'new_name')
|
|
|
|
# textures is iterable
|
|
self.assertEqual('new_name', ''.join(material.textures))
|
|
|
|
# supports `len`
|
|
self.assertLen(material.textures, 5)
|
|
|
|
# field checks for out-of-bound access on read and on write
|
|
with self.assertRaises(IndexError):
|
|
material.textures[5] = 'x'
|
|
|
|
with self.assertRaises(IndexError):
|
|
material.textures[-1] = 'x'
|
|
|
|
def test_assign_texture(self):
|
|
spec = mujoco.MjSpec()
|
|
texture = spec.add_texture(name='texture', height=2, width=2)
|
|
texture.data = np.zeros((2, 2, 3), dtype=np.uint8).tobytes()
|
|
spec.compile()
|
|
|
|
def test_attach_units(self):
|
|
child = mujoco.MjSpec()
|
|
parent = mujoco.MjSpec()
|
|
parent.compiler.degree = not child.compiler.degree
|
|
body = child.worldbody.add_body(euler=[90, 0, 0])
|
|
frame = parent.worldbody.add_frame(euler=[-mujoco.mjPI / 2, 0, 0])
|
|
frame.attach_body(body, prefix='child-')
|
|
model = parent.compile()
|
|
np.testing.assert_almost_equal(model.body_quat[1], [1, 0, 0, 0])
|
|
|
|
def test_attach_to_site(self):
|
|
parent = mujoco.MjSpec()
|
|
parent.assets = {'cube.obj': 'cube_content'}
|
|
site = parent.worldbody.add_site(pos=[1, 2, 3], quat=[0, 0, 0, 1])
|
|
site.name = 'site'
|
|
|
|
# Attach body to site and compile.
|
|
child1 = mujoco.MjSpec()
|
|
child1.assets = {'cube1.obj': 'cube1_content'}
|
|
body1 = child1.worldbody.add_body()
|
|
self.assertIs(body1, site.attach_body(body1, prefix='_'))
|
|
body1.pos = [1, 1, 1]
|
|
model1 = parent.compile()
|
|
self.assertIsNotNone(model1)
|
|
self.assertEqual(model1.nbody, 2)
|
|
np.testing.assert_array_equal(model1.body_pos[1], [0, 1, 4])
|
|
np.testing.assert_array_equal(model1.body_quat[1], [0, 0, 0, 1])
|
|
self.assertEqual(parent.assets['cube.obj'], 'cube_content')
|
|
|
|
# Attach entire spec to site and compile again.
|
|
child2 = mujoco.MjSpec()
|
|
child2.assets = {'cube2.obj': 'cube2_content'}
|
|
body2 = child2.worldbody.add_body(name='body')
|
|
self.assertIsNotNone(parent.attach(child2, site=site, prefix='child2-'))
|
|
body2.pos = [-1, -1, -1]
|
|
model2 = parent.compile()
|
|
self.assertIsNotNone(model2)
|
|
self.assertEqual(model2.nbody, 3)
|
|
np.testing.assert_array_equal(model2.body_pos[1], [0, 1, 4])
|
|
np.testing.assert_array_equal(model2.body_pos[2], [2, 3, 2])
|
|
np.testing.assert_array_equal(model2.body_quat[1], [0, 0, 0, 1])
|
|
np.testing.assert_array_equal(model2.body_quat[2], [0, 0, 0, 1])
|
|
self.assertEqual(parent.assets['cube.obj'], 'cube_content')
|
|
self.assertEqual(parent.assets['cube2.obj'], 'cube2_content')
|
|
|
|
# Attach another spec to site (referenced by name) and compile again.
|
|
child3 = mujoco.MjSpec()
|
|
child3.assets = {'cube3.obj': 'cube3_content'}
|
|
body3 = child3.worldbody.add_body(name='body')
|
|
self.assertIsNotNone(parent.attach(child3, site='site', prefix='child3-'))
|
|
body3.pos = [-2, -2, -2]
|
|
model3 = parent.compile()
|
|
self.assertIsNotNone(model3)
|
|
self.assertEqual(model3.nbody, 4)
|
|
np.testing.assert_array_equal(model3.body_pos[1], [0, 1, 4])
|
|
np.testing.assert_array_equal(model3.body_pos[2], [2, 3, 2])
|
|
np.testing.assert_array_equal(model3.body_pos[3], [3, 4, 1])
|
|
np.testing.assert_array_equal(model3.body_quat[1], [0, 0, 0, 1])
|
|
np.testing.assert_array_equal(model3.body_quat[2], [0, 0, 0, 1])
|
|
np.testing.assert_array_equal(model3.body_quat[3], [0, 0, 0, 1])
|
|
self.assertEqual(parent.assets['cube.obj'], 'cube_content')
|
|
self.assertEqual(parent.assets['cube2.obj'], 'cube2_content')
|
|
self.assertEqual(parent.assets['cube3.obj'], 'cube3_content')
|
|
|
|
# Fail to attach to a site that does not exist.
|
|
child4 = mujoco.MjSpec()
|
|
with self.assertRaisesRegex(ValueError, 'Site not found.'):
|
|
parent.attach(child4, site='invalid_site', prefix='child3-')
|
|
|
|
def test_body_to_frame(self):
|
|
spec = mujoco.MjSpec()
|
|
body = spec.worldbody.add_body(pos=[1, 2, 3])
|
|
spec.compile()
|
|
frame = body.to_frame()
|
|
np.testing.assert_array_equal(frame.pos, [1, 2, 3])
|
|
|
|
def test_attach_to_frame(self):
|
|
parent = mujoco.MjSpec()
|
|
parent.assets = {'cube.obj': 'cube_content'}
|
|
frame = parent.worldbody.add_frame(pos=[1, 2, 3], quat=[0, 0, 0, 1])
|
|
frame.name = 'frame'
|
|
|
|
# Attach body to frame and compile.
|
|
child1 = mujoco.MjSpec()
|
|
child1.assets = {'cube1.obj': 'cube1_content'}
|
|
body1 = child1.worldbody.add_body()
|
|
self.assertIs(body1, frame.attach_body(body1, prefix='_'))
|
|
body1.pos = [1, 1, 1]
|
|
model1 = parent.compile()
|
|
self.assertIsNotNone(model1)
|
|
self.assertEqual(model1.nbody, 2)
|
|
np.testing.assert_array_equal(model1.body_pos[1], [0, 1, 4])
|
|
np.testing.assert_array_equal(model1.body_quat[1], [0, 0, 0, 1])
|
|
self.assertEqual(parent.assets['cube.obj'], 'cube_content')
|
|
|
|
# Attach entire spec to frame and compile again.
|
|
child2 = mujoco.MjSpec()
|
|
child2.assets = {'cube2.obj': 'cube2_content'}
|
|
body2 = child2.worldbody.add_body(name='body')
|
|
self.assertIsNotNone(parent.attach(child2, frame=frame, prefix='child-'))
|
|
body2.pos = [-1, -1, -1]
|
|
model2 = parent.compile()
|
|
self.assertIsNotNone(model2)
|
|
self.assertEqual(model2.nbody, 3)
|
|
np.testing.assert_array_equal(model2.body_pos[1], [0, 1, 4])
|
|
np.testing.assert_array_equal(model2.body_pos[2], [2, 3, 2])
|
|
np.testing.assert_array_equal(model2.body_quat[1], [0, 0, 0, 1])
|
|
np.testing.assert_array_equal(model2.body_quat[2], [0, 0, 0, 1])
|
|
self.assertEqual(parent.assets['cube.obj'], 'cube_content')
|
|
self.assertEqual(parent.assets['cube2.obj'], 'cube2_content')
|
|
|
|
# Attach another spec to frame (referenced by name) and compile again.
|
|
child3 = mujoco.MjSpec()
|
|
child3.assets = {'cube2.obj': 'new_cube2_content'}
|
|
body3 = child3.worldbody.add_body(name='body')
|
|
self.assertIsNotNone(parent.attach(child3, frame='frame', prefix='child3-'))
|
|
body3.pos = [-2, -2, -2]
|
|
model3 = parent.compile()
|
|
self.assertIsNotNone(model3)
|
|
self.assertEqual(model3.nbody, 4)
|
|
np.testing.assert_array_equal(model3.body_pos[1], [0, 1, 4])
|
|
np.testing.assert_array_equal(model3.body_pos[2], [2, 3, 2])
|
|
np.testing.assert_array_equal(model3.body_pos[3], [3, 4, 1])
|
|
np.testing.assert_array_equal(model3.body_quat[1], [0, 0, 0, 1])
|
|
np.testing.assert_array_equal(model3.body_quat[2], [0, 0, 0, 1])
|
|
np.testing.assert_array_equal(model3.body_quat[3], [0, 0, 0, 1])
|
|
self.assertEqual(parent.assets['cube.obj'], 'cube_content')
|
|
self.assertEqual(parent.assets['cube2.obj'], 'new_cube2_content')
|
|
|
|
# Fail to attach to a frame that does not exist.
|
|
child4 = mujoco.MjSpec()
|
|
with self.assertRaisesRegex(ValueError, 'Frame not found.'):
|
|
parent.attach(child4, frame='invalid_frame', prefix='child3-')
|
|
|
|
if __name__ == '__main__':
|
|
absltest.main()
|