Alessio Quaglino
655e3d0914
PiperOrigin-RevId: 613922860 Change-Id: Ic47a83aa33b57ef96bd742088442e6237282ee92
121 lines
3.6 KiB
C++
121 lines
3.6 KiB
C++
// 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 user/user_api.cc.
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#include <array>
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#include <filesystem>
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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 <absl/strings/match.h>
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#include <mujoco/mujoco.h>
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#include "src/user/user_api.h"
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#include "src/xml/xml.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::NotNull;
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// ----------------------------- test set/get --------------------------------
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TEST_F(MujocoTest, ReadWriteData) {
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mjSpec* spec = mjm_createSpec();
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mjmBody* world = mjm_findBody(spec, "world");
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mjmBody* body = mjm_addBody(world, 0);
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mjmSite* site = mjm_addSite(body, 0);
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{
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double vec[10] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
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const char* str = "sitename";
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mjm_setString(site->name, str);
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mjm_setDouble(site->userdata, vec, 10);
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}
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EXPECT_THAT(mjm_getString(site->name), HasSubstr("sitename"));
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int nsize;
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const double* vec = mjm_getDouble(site->userdata, &nsize);
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for (int i = 0; i < nsize; ++i) {
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EXPECT_EQ(vec[i], i);
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}
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mjm_deleteSpec(spec);
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}
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// ------------------- test recompilation multiple files ----------------------
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TEST_F(PluginTest, RecompileCompare) {
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// full precision float printing
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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 = {GetTestDataFilePath("."),
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GetModelPath(".")};
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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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// if file is meant to fail, skip it
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if (absl::StrContains(p.path().string(), "malformed_") ||
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absl::StrContains(p.path().string(), "touch_grid") ||
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absl::StrContains(p.path().string(), "cow") ||
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absl::StrContains(p.path().string(), "discardvisual")) {
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continue;
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}
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// load model
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std::array<char, 1000> error;
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mjSpec* spec =
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mjParseXML(xml.c_str(), nullptr, error.data(), error.size());
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// compile twice
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mjModel* m_old = mjm_compile(spec, nullptr);
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mjModel* m_new = mjm_compile(spec, nullptr);
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ASSERT_THAT(m_old, NotNull())
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<< "Failed to compile " << xml << ": " << error.data();
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ASSERT_THAT(m_new, NotNull())
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<< "Failed to recompile " << xml << ": " << error.data();
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// compare and delete
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std::string field = "";
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mjtNum result = CompareModel(m_old, m_new, field);
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mjtNum tol = 0;
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EXPECT_LE(result, tol)
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<< "Loaded and saved models are different!\n"
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<< "Affected file " << p.path().string() << '\n'
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<< "Different field: " << field << '\n';
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// delete models
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mjm_deleteSpec(spec);
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mj_deleteModel(m_old);
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mj_deleteModel(m_new);
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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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