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Mujoco_WASM/test/xml/xml_native_writer_test.cc
T
Yuval Tassa 608115ab95 Add output attribute to camera elements. 
This attribute allows specifying the intended output types (e.g., RGB, depth, normal) for each camera in the XML. The output types are stored as bit flags in `mjModel`.

PiperOrigin-RevId: 853316261
Change-Id: I1ad2e94102593cf402756f8f4c80509371ca86d2
2026-01-07 10:22:27 -08:00

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// 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.
// Tests for xml/xml_native_writer.cc.
#include <memory>
#if defined(__unix__) || (defined(__APPLE__) && defined(__MACH__))
#include <unistd.h>
#endif
#include <array>
#include <clocale>
#include <cstdio>
#include <filesystem> // NOLINT(build/c++17)
#include <string>
#include <vector>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <absl/strings/match.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h>
#include <mujoco/mujoco.h>
#include "src/xml/xml_numeric_format.h"
#include "test/fixture.h"
namespace mujoco {
namespace {
using ::testing::ElementsAre;
using ::testing::FloatEq;
using ::testing::HasSubstr;
using ::testing::Not;
using ::testing::NotNull;
using XMLWriterTest = PluginTest;
static const char* const kNonRgbTextureXMLPath =
"xml/testdata/hfield_png_nonrgb.xml";
TEST_F(XMLWriterTest, EmptyModel) {
static constexpr char xml[] = "<mujoco/>";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("default")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, SavesMemory) {
{
static constexpr char xml[] = R"(
<mujoco>
<size memory=" 1023 "/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("memory=\"1023\""));
mj_deleteModel(model);
}
{
static constexpr char xml[] = R"(
<mujoco>
<size memory="1024"/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("memory=\"1K\""));
mj_deleteModel(model);
}
{
static constexpr char xml[] = R"(
<mujoco>
<size memory="4096"/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("memory=\"4K\""));
mj_deleteModel(model);
}
{
static constexpr char xml[] = R"(
<mujoco>
<size memory="1048576"/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("memory=\"1M\""));
mj_deleteModel(model);
}
{
static constexpr char xml[] = R"(
<mujoco>
<size memory="1047552"/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("memory=\"1023K\""));
mj_deleteModel(model);
}
}
TEST_F(XMLWriterTest, SavesDisableSensor) {
static constexpr char xml[] = R"(
<mujoco>
<option>
<flag sensor="disable"/>
</option>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("sensor=\"disable\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, SavesInertial) {
static constexpr char xml[] = R"(
<mujoco>
<compiler saveinertial="true"/>
<worldbody>
<body>
<geom type="box" size=".05 .05 .05"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("mass=\"1\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, EmptyUserSensor) {
static constexpr char xml[] = R"(
<mujoco>
<sensor>
<user dim="2" needstage="vel"/>
</sensor>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("dim=\"2\""));
EXPECT_THAT(saved_xml, HasSubstr("needstage=\"vel\""));
EXPECT_THAT(saved_xml, HasSubstr("datatype=\"real\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("objtype")));
EXPECT_THAT(saved_xml, Not(HasSubstr("objname")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, KeepsEmptyClasses) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<default class="empty_referenced"/>
<default class="empty_unreferenced"/>
<default class="regular">
<geom size="0.3"/>
</default>
</default>
<worldbody>
<geom class="regular"/>
<geom class="empty_referenced" size="0.2"/>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("default class=\"regular\""));
EXPECT_THAT(saved_xml, HasSubstr("default class=\"empty_referenced\""));
EXPECT_THAT(saved_xml, HasSubstr("default class=\"empty_unreferenced\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, KeepsExplicitInertial) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="0.2"/>
<inertial pos="0 1 2" mass="3"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("<inertial pos=\"0 1 2\" mass=\"3\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, NotAddsInertial) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="0.2"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("inertial")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, KeepsBoundMassInertia) {
static constexpr char xml[] = R"(
<mujoco>
<compiler boundmass="0.1" boundinertia="0.2"/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("boundmass=\"0.1\""));
EXPECT_THAT(saved_xml, HasSubstr("boundinertia=\"0.2\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, DropsZeroBoundMassInertia) {
static constexpr char xml[] = R"(
<mujoco>
<compiler boundmass="0" boundinertia="0"/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("boundmass")));
EXPECT_THAT(saved_xml, Not(HasSubstr("boundinertia")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, DropsInertialIfFromGeom) {
static constexpr char xml[] = R"(
<mujoco>
<compiler inertiafromgeom="true"/>
<worldbody>
<body>
<inertial pos="0 1 2" mass="3"/>
<geom size="0.2"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("inertial")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, KeepsAutoLimitsFalse) {
static constexpr char xml[] = R"(
<mujoco>
<compiler autolimits="false"/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"false\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, DoesNotKeepInferredJointLimited) {
static constexpr char xml[] = R"(
<mujoco>
<compiler angle="radian" autolimits="true" />
<worldbody>
<body>
<joint name="hinge" range="-1 1"/>
<geom size="1"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("limited=\"true\"")));
EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, KeepsExplicitJointLimited) {
static constexpr char xml[] = R"(
<mujoco>
<compiler angle="radian" autolimits="true" />
<worldbody>
<body>
<joint name="hinge" limited="true" range="-1 1"/>
<geom size="1"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
EXPECT_THAT(saved_xml, HasSubstr("limited=\"true\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, KeepsJointLimitedFalseIfAutoLimits) {
static constexpr char xml[] = R"(
<mujoco>
<compiler angle="radian" autolimits="true" />
<worldbody>
<body>
<joint name="hinge" limited="false" range="-1 1"/>
<geom size="1"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("limited=\"false\" range=\"-1 1\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, DoesNotKeepInferredTendonLimited) {
static constexpr char xml[] = R"(
<mujoco>
<compiler angle="radian" autolimits="true" />
<worldbody>
<body>
<joint type="slide"/>
<geom size="1"/>
<site name="s1"/>
</body>
<site name="s2"/>
</worldbody>
<tendon>
<spatial range="-1 1">
<site site="s1"/>
<site site="s2"/>
</spatial>
</tendon>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("limited=\"true\"")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, KeepsExplicitTendonLimitedIfAutoLimits) {
static constexpr char xml[] = R"(
<mujoco>
<compiler angle="radian" autolimits="true" />
<worldbody>
<body>
<joint type="slide"/>
<geom size="1"/>
<site name="s1"/>
</body>
<site name="s2"/>
</worldbody>
<tendon>
<spatial limited="true" range="-1 1">
<site site="s1"/>
<site site="s2"/>
</spatial>
</tendon>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
EXPECT_THAT(saved_xml, HasSubstr("limited=\"true\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, KeepsTendonLimitedFalseIfAutoLimits) {
static constexpr char xml[] = R"(
<mujoco>
<compiler angle="radian" autolimits="true" />
<worldbody>
<body>
<joint type="slide"/>
<geom size="1"/>
<site name="s1"/>
</body>
<site name="s2"/>
</worldbody>
<tendon>
<spatial limited="false" range="-1 1">
<site site="s1"/>
<site site="s2"/>
</spatial>
</tendon>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("limited=\"false\" range=\"-1 1\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, DoesNotKeepInferredActlimited) {
static constexpr char xml[] = R"(
<mujoco>
<compiler autolimits="true" />
<worldbody>
<body>
<joint name="hinge"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<general dyntype="filter" joint="hinge" actrange="-1 1"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
EXPECT_THAT(saved_xml, HasSubstr("actrange=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("actlimited=\"true\"")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, KeepsExplicitActlimitedIfAutoLimits) {
static constexpr char xml[] = R"(
<mujoco>
<compiler autolimits="true" />
<worldbody>
<body>
<joint name="hinge"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<general dyntype="filter" joint="hinge" actlimited="true" actrange="-1 1"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
EXPECT_THAT(saved_xml, HasSubstr("actrange=\"-1 1\""));
EXPECT_THAT(saved_xml, HasSubstr("actlimited=\"true\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, KeepsActlimitedFalse) {
static constexpr char xml[] = R"(
<mujoco>
<compiler autolimits="true" />
<worldbody>
<body>
<joint name="hinge"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<general dyntype="filter" joint="hinge" actlimited="false" actrange="-1 1"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("actlimited=\"false\" actrange=\"-1 1\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, DoesNotKeepInferredCtrllimited) {
static constexpr char xml[] = R"(
<mujoco>
<compiler autolimits="true" />
<worldbody>
<body>
<joint name="hinge"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<general joint="hinge" ctrlrange="-1 1"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("ctrlrange=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("ctrllimited=\"true\"")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, KeepsExplicitCtrllimitedIfAutoLimits) {
static constexpr char xml[] = R"(
<mujoco>
<compiler autolimits="true" />
<worldbody>
<body>
<joint name="hinge"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<general joint="hinge" ctrllimited="true" ctrlrange="-1 1"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("ctrlrange=\"-1 1\""));
EXPECT_THAT(saved_xml, HasSubstr("ctrllimited=\"true\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, KeepsCtrllimitedFalse) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="hinge"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<general joint="hinge" ctrllimited="false" ctrlrange="-1 1"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("ctrllimited=\"false\" ctrlrange=\"-1 1\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, DoesNotKeepInferredForcelimited) {
static constexpr char xml[] = R"(
<mujoco>
<compiler autolimits="true" />
<worldbody>
<body>
<joint name="hinge"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<general joint="hinge" forcerange="-1 1"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
EXPECT_THAT(saved_xml, HasSubstr("forcerange=\"-1 1\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("forcelimited=\"true\"")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, KeepsExplicitForcelimited) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="hinge"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<general joint="hinge" forcelimited="true" forcerange="-1 1"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
EXPECT_THAT(saved_xml, HasSubstr("forcerange=\"-1 1\""));
EXPECT_THAT(saved_xml, HasSubstr("forcelimited=\"true\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, KeepsForcelimitedFalse) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint name="hinge"/>
<geom size="1"/>
</body>
</worldbody>
<actuator>
<general joint="hinge" forcelimited="false" forcerange="-1 1"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml,
HasSubstr("forcelimited=\"false\" forcerange=\"-1 1\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, WritesGravComp) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body gravcomp=".25"/>
<body/>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("gravcomp=\"0.25\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("gravcomp=\"0\"")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, WritesBodyPos) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body pos="1 2 3"/>
<body pos="0 0 0"/>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("pos=\"1 2 3\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("pos=\"0 0 0\"")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, UndefinedMassDensity) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom type="box" size=".05 .05 .05"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("density")));
EXPECT_THAT(saved_xml, Not(HasSubstr("mass")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, WritesDefaults) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<geom density="100"/>
</default>
<worldbody>
<body>
<geom type="box" size=".05 .05 .05"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("mass")));
EXPECT_THAT(saved_xml, HasSubstr("<geom density=\"100\"/>"));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, WritesActuatorDefaults) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<default class="position">
<position kp="3" kv="4" />
</default>
<default class="intvelocity">
<intvelocity kp="5" kv="6" />
</default>
</default>
<worldbody>
<body>
<geom size="1"/>
<joint name="jnt" type="slide" axis="1 0 0" range="0 2"/>
</body>
</worldbody>
<actuator>
<position joint="jnt" class="position"/>
<intvelocity joint="jnt" actrange="-1 1"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("mass")));
EXPECT_THAT(saved_xml, HasSubstr(
"<general biastype=\"affine\" gainprm=\"3\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, WritesFrameDefaults) {
static constexpr char xml[] = R"(
<mujoco model="test">
<default>
<default class="dframe">
<geom size=".1"/>
</default>
</default>
<worldbody>
<frame name="f1" euler="0 0 30">
<geom size=".5" euler="0 0 20"/>
</frame>
<body name="body">
<frame pos="0 1 0" name="f2" childclass="dframe">
<geom pos="0 1 0"/>
<frame pos="0 1 0" name="f3">
<frame pos="0 1 0">
<body pos="1 0 0">
<geom pos="0 0 1"/>
</body>
</frame>
</frame>
</frame>
<frame>
<light pos="0 0 1"/>
</frame>
</body>
</worldbody>
</mujoco>
)";
static constexpr char xml_expected[] = R"(<mujoco model="test">
<compiler angle="radian"/>
<default>
<default class="dframe">
<geom size="0.1 0 0"/>
</default>
</default>
<worldbody>
<body name="body">
<frame name="f2" childclass="dframe">
<geom pos="0 2 0"/>
<frame name="f3" childclass="dframe">
<frame childclass="dframe">
<body pos="1 3 0">
<geom pos="0 0 1"/>
</body>
</frame>
</frame>
</frame>
<light pos="0 0 1" dir="0 0 -1"/>
</body>
<frame name="f1">
<geom size="0.5" quat="0.906308 0 0 0.422618"/>
</frame>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, NotNull()) << error.data();
std::string saved_xml = SaveAndReadXml(model);
EXPECT_STREQ(saved_xml.c_str(), xml_expected);
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, WritesDensity) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom type="box" size=".05 .05 .05" density="100"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("density=\"100\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("mass")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, WritesMass) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom type="box" size=".05 .05 .05" mass="0.1"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("density")));
EXPECT_THAT(saved_xml, HasSubstr("mass=\"0.1\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, ZeroMass) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom type="box" size=".05 .05 .05" mass="0"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("density")));
EXPECT_THAT(saved_xml, HasSubstr("mass=\"0\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, OverwritesDensity) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="0.2" density="100" mass="100"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("density")));
EXPECT_THAT(saved_xml, HasSubstr("mass=\"100\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, SaveDefaultMass) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="example"
vertex="0 0 0 1 0 0 0 1 0 0 0 1"
face="2 0 3 0 1 3 1 2 3 0 2 1" />
</asset>
<default class="main">
<geom type="mesh" mass="1"/>
</default>
<worldbody>
<body>
<geom mesh="example" size=".1 .2 .3"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
EXPECT_THAT(model, NotNull());
std::string content = SaveAndReadXml(model);
EXPECT_THAT(content, HasSubstr("mass=\"1\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, UsesTwoSpaces) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr(" "));
EXPECT_THAT(saved_xml, Not(HasSubstr(" ")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, WritesSkin) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body pos="1 -1 .6" name="B0_parent">
<flexcomp name="B0" type="grid" count="4 4 1" spacing=".2 .2 .2" radius=".1" dim="2"/>
</body>
</worldbody>
<deformable>
<skin name="B0Skin" rgba="1 1 0 1" inflate="0.1"
vertex="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"
face="0 4 5 0 5 1 1 5 6 1 6 2 2 6 7 2 7 3 4 8 9 4 9 5 5 9 10 5 10 6 6 10 11 6 11 7 8
12 13 8 13 9 9 13 14 9 14 10 10 14 15 10 15 11 16 21 20 16 17 21 17 22 21 17 18
22 18 23 22 18 19 23 20 25 24 20 21 25 21 26 25 21 22 26 22 27 26 22 23 27 24 29
28 24 25 29 25 30 29 25 26 30 26 31 30 26 27 31 0 20 4 0 16 20 4 24 8 4 20 24 8
28 12 8 24 28 3 7 23 3 23 19 7 11 27 7 27 23 11 15 31 11 31 27 0 1 17 0 17 16 1
2 18 1 18 17 2 3 19 2 19 18 12 29 13 12 28 29 13 30 14 13 29 30 14 31 15 14 30 31">
<bone body="B0_0" bindpos="0 0 0" bindquat="1 0 0 0" vertid="0 16" vertweight="1 1"/>
<bone body="B0_1" bindpos="0 0 0" bindquat="1 0 0 0" vertid="1 17" vertweight="1 1"/>
<bone body="B0_2" bindpos="0 0 0" bindquat="1 0 0 0" vertid="2 18" vertweight="1 1"/>
<bone body="B0_3" bindpos="0 0 0" bindquat="1 0 0 0" vertid="3 19" vertweight="1 1"/>
<bone body="B0_4" bindpos="0 0 0" bindquat="1 0 0 0" vertid="4 20" vertweight="1 1"/>
<bone body="B0_5" bindpos="0 0 0" bindquat="1 0 0 0" vertid="5 21" vertweight="1 1"/>
<bone body="B0_6" bindpos="0 0 0" bindquat="1 0 0 0" vertid="6 22" vertweight="1 1"/>
<bone body="B0_7" bindpos="0 0 0" bindquat="1 0 0 0" vertid="7 23" vertweight="1 1"/>
<bone body="B0_8" bindpos="0 0 0" bindquat="1 0 0 0" vertid="8 24" vertweight="1 1"/>
<bone body="B0_9" bindpos="0 0 0" bindquat="1 0 0 0" vertid="9 25" vertweight="1 1"/>
<bone body="B0_10" bindpos="0 0 0" bindquat="1 0 0 0" vertid="10 26" vertweight="1 1"/>
<bone body="B0_11" bindpos="0 0 0" bindquat="1 0 0 0" vertid="11 27" vertweight="1 1"/>
<bone body="B0_12" bindpos="0 0 0" bindquat="1 0 0 0" vertid="12 28" vertweight="1 1"/>
<bone body="B0_13" bindpos="0 0 0" bindquat="1 0 0 0" vertid="13 29" vertweight="1 1"/>
<bone body="B0_14" bindpos="0 0 0" bindquat="1 0 0 0" vertid="14 30" vertweight="1 1"/>
<bone body="B0_15" bindpos="0 0 0" bindquat="1 0 0 0" vertid="15 31" vertweight="1 1"/>
</skin>
</deformable>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
EXPECT_THAT(model->nskin, 1);
char error[1024];
mjModel* mtemp = LoadModelFromString(SaveAndReadXml(model),
error, sizeof(error));
ASSERT_THAT(mtemp, NotNull()) << error;
EXPECT_THAT(mtemp->nskin, 1);
mj_deleteModel(model);
mj_deleteModel(mtemp);
}
TEST_F(XMLWriterTest, WritesHfield) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<hfield name="hf" nrow="3" ncol="2" size="0.5 0.5 1 0.1"
elevation="1 2
3 4
5 6"/>
</asset>
</mujoco>
)";
// load model
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
int size = model->hfield_nrow[0]*model->hfield_ncol[0];
EXPECT_EQ(size, 6);
// check that the data is normalized and in row-major, bottom-to-top order
EXPECT_THAT(AsVector(model->hfield_data, 6),
ElementsAre(.8, 1, .4, .6, 0, .2));
// save and read, compare data
mjModel* mtemp = LoadModelFromString(SaveAndReadXml(model));
ASSERT_THAT(mtemp, NotNull());
for (int i = 0; i < size; ++i) {
EXPECT_THAT(mtemp->hfield_data[i], FloatEq(model->hfield_data[i]));
}
mj_deleteModel(mtemp);
// modify data, save read and compare
model->hfield_data[0] = 0.25;
model->hfield_data[1] = 0.0;
model->hfield_data[2] = 0.5;
model->hfield_data[3] = 0.0;
model->hfield_data[4] = 1.0;
model->hfield_data[5] = 0.0;
mtemp = LoadModelFromString(SaveAndReadXml(model));
ASSERT_THAT(mtemp, NotNull());
for (int i = 0; i < size; ++i) {
EXPECT_THAT(mtemp->hfield_data[i], FloatEq(model->hfield_data[i]));
}
mj_deleteModel(mtemp);
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, WritesLight) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<default class="r1">
<light bulbradius="1"/>
</default>
</default>
<worldbody>
<light/>
<light class="r1"/>
<light class="r1" bulbradius="2"/>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
// save and read, compare data
mjModel* mtemp = LoadModelFromString(SaveAndReadXml(model));
EXPECT_EQ(mtemp->nlight, 3);
EXPECT_FLOAT_EQ(mtemp->light_bulbradius[0], 0.02);
EXPECT_FLOAT_EQ(mtemp->light_bulbradius[1], 1);
EXPECT_FLOAT_EQ(mtemp->light_bulbradius[2], 2);
mj_deleteModel(mtemp);
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, WritesMaterial) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<default class="mat">
<material metallic="2" roughness="3"/>
</default>
</default>
<asset>
<material name="0" class="mat"/>
<material name="1" class="mat" metallic="4" roughness="5"/>
</asset>
</mujoco>
)";
std::array<char, 1000> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
// save and read, compare data
mjModel* mtemp = LoadModelFromString(SaveAndReadXml(model));
EXPECT_EQ(mtemp->nmat, 2);
EXPECT_EQ(mtemp->mat_metallic[0], 2);
EXPECT_EQ(mtemp->mat_metallic[1], 4);
EXPECT_EQ(mtemp->mat_roughness[0], 3);
EXPECT_EQ(mtemp->mat_roughness[1], 5);
mj_deleteModel(mtemp);
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, SpringlengthOneValue) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<site name="1"/>
<site name="2" pos="0 0 1"/>
</worldbody>
<tendon>
<spatial springlength="0.5">
<site site="1"/>
<site site="2"/>
</spatial>
</tendon>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("springlength=\"0.5\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, SpringlengthTwoValues) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<site name="1"/>
<site name="2" pos="0 0 1"/>
</worldbody>
<tendon>
<spatial springlength="0 0.5">
<site site="1"/>
<site site="2"/>
</spatial>
</tendon>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("springlength=\"0 0.5\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, Actdim) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1"/>
<joint name="hinge"/>
</body>
</worldbody>
<actuator>
<general joint="hinge" dyntype="user" actdim="2"/>
<general joint="hinge" dyntype="filter" dynprm="1"/>
<motor joint="hinge"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("actdim=\"2\""));
EXPECT_THAT(saved_xml, Not(HasSubstr("actdim=\"1\"")));
EXPECT_THAT(saved_xml, Not(HasSubstr("actdim=\"0\"")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, ActdimDefaults) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<general actdim="2"/>
</default>
<worldbody>
<body>
<geom size="1"/>
<joint name="hinge"/>
</body>
</worldbody>
<actuator>
<general joint="hinge" dyntype="user"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("actdim=\"2\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, TrimsDefaults) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1" friction="0.9" solref="0.1" solimp="0.1 0.2"/>
<joint name="jnt" type="slide" axis="1 0 0" range="0 2"/>
</body>
</worldbody>
<actuator>
<position joint="jnt" kp="3" kv="4"/>
<damper joint="jnt" kv="10" ctrlrange="0 1"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("friction=\"0.9\""));
EXPECT_THAT(saved_xml, HasSubstr("solref=\"0.1\""));
EXPECT_THAT(saved_xml, HasSubstr("solimp=\"0.1 0.2\""));
EXPECT_THAT(saved_xml, HasSubstr("gainprm=\"3\" biasprm=\"0 -3 -4\""));
EXPECT_THAT(saved_xml, HasSubstr("gainprm=\"0 0 -10\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, DoesntSaveGlobal) {
static constexpr char xml[] = "<mujoco/>";
std::array<char, 1000> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("global")));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, InheritrangeSavedAsRange) {
static constexpr char xml[] = R"(
<mujoco>
<compiler angle="radian"/>
<worldbody>
<body>
<geom size="1"/>
<joint name="slide" type="slide" range="0 2"/>
</body>
<body>
<geom size="1"/>
<joint name="hinge" type="hinge" range="-2 0"/>
</body>
</worldbody>
<actuator>
<position joint="slide" inheritrange="2"/>
<intvelocity joint="hinge" inheritrange="0.5"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("ctrlrange=\"-1 3\""));
EXPECT_THAT(saved_xml, HasSubstr("actrange=\"-1.5 -0.5\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, InheritedInheritrangeSavedAsRange) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<default class="position">
<position kp="3" kv="4" inheritrange="2"/>
</default>
<default class="intvelocity">
<intvelocity kp="5" kv="6" inheritrange="0.5"/>
</default>
</default>
<worldbody>
<body>
<geom size="1"/>
<joint name="jnt" type="slide" range="0 2"/>
</body>
</worldbody>
<actuator>
<position joint="jnt" class="position"/>
<intvelocity joint="jnt" class="intvelocity"/>
</actuator>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("inheritrange")));
EXPECT_THAT(saved_xml, HasSubstr("ctrlrange=\"-1 3\""));
EXPECT_THAT(saved_xml, HasSubstr("actrange=\"0.5 1.5\""));
mj_deleteModel(model);
}
// check that no precision is lost when saving XMLs with FullFloatPrecision
TEST_F(XMLWriterTest, SetPrecision) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<geom type="box" size="0.1 0.123456 0.1234567812345678"/>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
// save to XML and re-load, expect to lose precision
mjModel* model_lo = LoadModelFromString(SaveAndReadXml(model));
ASSERT_THAT(model_lo, NotNull());
EXPECT_EQ(model->geom_size[1], model_lo->geom_size[1]);
EXPECT_NE(model->geom_size[2], model_lo->geom_size[2]);
{
// save to XML and reload with FullFloatPrecision
// expect to maintain precision
FullFloatPrecision increase_precision;
mjModel* model_hi = LoadModelFromString(SaveAndReadXml(model));
EXPECT_EQ(model->geom_size[2], model_hi->geom_size[2]);
mj_deleteModel(model_hi);
}
mj_deleteModel(model_lo);
mj_deleteModel(model);
}
class XMLWriterLocaleTest : public MujocoTest {
public:
XMLWriterLocaleTest() : old_locale_(std::setlocale(LC_ALL, nullptr)) {}
protected:
void SetUp() override {
if (!std::setlocale(LC_ALL, "de_DE.UTF-8")) {
GTEST_SKIP() << "This system doesn't support the de_DE.UTF-8 locale";
}
}
void TearDown() override {
std::setlocale(LC_ALL, old_locale_.c_str());
}
private:
std::string old_locale_;
};
TEST_F(XMLWriterLocaleTest, IgnoresLocale) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<geom type="box" size="0.1 1.23 2.345"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("0.1 1.23 2.345"));
mj_deleteModel(model);
// Test that MuJoCo doesn't override locales for subsequent calls.
char formatted[8];
std::snprintf(formatted, sizeof(formatted), "%.4f", 3.9375);
EXPECT_EQ(std::string(formatted), "3,9375");
}
TEST_F(XMLWriterTest, NonRGBTextures) {
const std::string xml_path = GetTestDataFilePath(kNonRgbTextureXMLPath);
std::array<char, 1024> error;
mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
std::string saved_xml = SaveAndReadXml(model);
EXPECT_FALSE(saved_xml.empty());
// check that layers are written correctly
EXPECT_THAT(saved_xml, HasSubstr("<material name=\"hfield\">"));
EXPECT_THAT(saved_xml, HasSubstr("<layer texture=\"hfield\" role=\"rgb\"/>"));
EXPECT_THAT(saved_xml, HasSubstr("<layer texture=\"hfield\" role=\"orm\"/>"));
EXPECT_THAT(saved_xml,
HasSubstr("<layer texture=\"hfield\" role=\"normal\"/>"));
mj_deleteModel(model);
}
// ------------------- test loading and saving multiple files ------------------
TEST_F(XMLWriterTest, WriteReadCompare) {
// full precision float printing
FullFloatPrecision increase_precision;
// loop over all xml files in data
std::vector<std::string> paths = {GetTestDataFilePath("."),
GetModelPath(".")};
std::string ext(".xml");
for (auto const& path : paths) {
for (auto &p : std::filesystem::recursive_directory_iterator(path)) {
if (p.path().extension() == ext) {
std::string xml = p.path().string();
if ( // if file is meant to fail, skip it
absl::StrContains(p.path().string(), "malformed_") ||
absl::StrContains(p.path().string(), "_fail") ||
// exclude files that are too slow to load
absl::StrContains(p.path().string(), "cow") ||
absl::StrContains(p.path().string(), "gmsh_") ||
absl::StrContains(p.path().string(), "shark_") ||
absl::StrContains(p.path().string(), "perf") ||
// exclude files that fail the comparison test
absl::StrContains(p.path().string(), "rfcamera") ||
absl::StrContains(p.path().string(), "tactile") ||
absl::StrContains(p.path().string(), "makemesh") ||
absl::StrContains(p.path().string(), "many_dependencies") ||
absl::StrContains(p.path().string(), "usd") ||
absl::StrContains(p.path().string(), "torus_maxhull") ||
absl::StrContains(p.path().string(), "fitmesh_") ||
absl::StrContains(p.path().string(), "lengthrange") ||
absl::StrContains(p.path().string(), "hfield_xml") ||
absl::StrContains(p.path().string(), "fromto_convex") ||
absl::StrContains(p.path().string(), "cube_skin") ||
absl::StrContains(p.path().string(), "cube_3x3x3")) {
continue;
}
// load model
std::array<char, 1000> error;
mjSpec* s =
mj_parseXML(xml.c_str(), nullptr, error.data(), error.size());
ASSERT_THAT(s, NotNull())
<< "Failed to load " << xml.c_str() << ": " << error.data();
mjModel* m = mj_compile(s, nullptr);
ASSERT_THAT(m, NotNull())
<< "Failed to load " << xml.c_str() << ": " << error.data();
// make data
mjData* d = mj_makeData(m);
ASSERT_THAT(d, testing::NotNull()) << "Failed to create data\n";
// save and load back
auto abs_path = p.path();
mjSpec* stemp = mj_parseXMLString(SaveAndReadXml(s).c_str(), 0,
error.data(), error.size());
ASSERT_THAT(stemp, NotNull())
<< "Failed to load " << xml.c_str() << ": " << error.data();
mjs_setString(stemp->modelfiledir,
abs_path.remove_filename().string().c_str());
mjModel* mtemp = mj_compile(stemp, nullptr);
ASSERT_THAT(mtemp, NotNull())
<< error.data() << " from " << xml.c_str();
mjtNum tol = 0;
// for particularly sensitive models, relax the tolerance
if (absl::StrContains(p.path().string(), "belt.xml") ||
absl::StrContains(p.path().string(), "cable.xml")) {
tol = 1e-13;
}
// compare and delete
std::string field = "";
mjtNum result = CompareModel(m, mtemp, field);
EXPECT_LE(result, tol)
<< "Loaded and saved models are different!\n"
<< "Affected file " << p.path().string() << '\n'
<< "Different field: " << field << '\n';
mj_deleteModel(mtemp);
// check for stack memory leak
mj_step(m, d);
EXPECT_EQ(d->pstack, 0) << "mjData stack memory leak detected in " <<
p.path().string() << '\n';
// delete data
mj_deleteData(d);
// allocate buffer, save m into it
size_t sz = mj_sizeModel(m);
void* buffer = mju_malloc(sz);
mj_saveModel(m, nullptr, buffer, sz);
// make new VFS add buffer to it
mjVFS* vfs = (mjVFS*)mju_malloc(sizeof(mjVFS));
mj_defaultVFS(vfs);
int failed = mj_addBufferVFS(vfs, "model.mjb", buffer, sz);
EXPECT_EQ(failed, 0) << "Failed to add buffer to VFS";
// load model from VFS
mtemp = mj_loadModel("model.mjb", vfs);
ASSERT_THAT(mtemp, NotNull());
// compare with 0 tolerance
field = "";
result = CompareModel(m, mtemp, field);
EXPECT_EQ(result, 0)
<< "Loaded and saved binary models are different!\n"
<< "Affected file " << p.path().string() << '\n'
<< "Different field: " << field << '\n';
// clean up
mj_deleteSpec(s);
mj_deleteSpec(stemp);
mj_deleteModel(m);
mj_deleteModel(mtemp);
mj_deleteVFS(vfs);
mju_free(vfs);
mju_free(buffer);
}
}
}
}
// ---------------- test CopyBack functionality (decompiler) ------------------
using DecompilerTest = MujocoTest;
TEST_F(DecompilerTest, SavesStatistics) {
static constexpr char xml[] = R"(
<mujoco>
<statistic meansize="2" extent="3" center="4 5 6" meanmass="7" meaninertia="8"/>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
model->stat.meansize = 7;
model->stat.extent = 8;
model->stat.center[0] = 9;
model->stat.center[1] = 10;
model->stat.center[2] = 11;
model->stat.meanmass = 12;
model->stat.meaninertia = 13;
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("meansize=\"7\""));
EXPECT_THAT(saved_xml, HasSubstr("extent=\"8\""));
EXPECT_THAT(saved_xml, HasSubstr("center=\"9 10 11\""));
EXPECT_THAT(saved_xml, HasSubstr("meanmass=\"12\""));
EXPECT_THAT(saved_xml, HasSubstr("meaninertia=\"13\""));
mj_deleteModel(model);
}
TEST_F(DecompilerTest, SaveAndReadXml) {
static constexpr char xml1[] = R"(
<mujoco>
<worldbody>
<geom size="1"/>
<geom size="2"/>
</worldbody>
</mujoco>
)";
static constexpr char xml2[] = R"(
<mujoco>
<worldbody>
<geom size="1"/>
<geom size="2"/>
<geom size="3"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m1 = LoadModelFromString(xml1, error.data(), error.size());
ASSERT_THAT(m1, NotNull()) << error.data();
m1->geom_size[0] = 10;
m1->geom_size[3] = 20;
std::string saved_xml = SaveAndReadXml(m1);
EXPECT_THAT(saved_xml, HasSubstr("geom size=\"10\""));
EXPECT_THAT(saved_xml, HasSubstr("geom size=\"20\""));
// parse the mjSpec, save it and read it back
mjSpec* spec = mj_parseXMLString(xml2, nullptr, error.data(), error.size());
EXPECT_THAT(spec, NotNull()) << error.data();
mjModel* m2 = mj_compile(spec, nullptr);
std::string saved_xml1 = SaveAndReadXml(spec);
EXPECT_THAT(saved_xml1, HasSubstr("geom size=\"1\""));
EXPECT_THAT(saved_xml1, HasSubstr("geom size=\"2\""));
EXPECT_THAT(saved_xml1, HasSubstr("geom size=\"3\""));
// modify the mjModel, save it and read it back
m2->geom_size[0] = .1;
m2->geom_size[3] = .2;
m2->geom_size[6] = .3;
EXPECT_EQ(mj_copyBack(spec, m1), 0);
EXPECT_THAT(mjs_getError(spec), HasSubstr("CopyBack"));
EXPECT_EQ(mj_copyBack(spec, m2), 1);
std::string saved_xml2 = SaveAndReadXml(spec);
EXPECT_THAT(saved_xml2, HasSubstr("geom size=\"0.1\""));
EXPECT_THAT(saved_xml2, HasSubstr("geom size=\"0.2\""));
EXPECT_THAT(saved_xml2, HasSubstr("geom size=\"0.3\""));
// check that using mjModel as argument writes in the wrong mjSpec
std::string saved_xml3 = SaveAndReadXml(m2);
EXPECT_THAT(saved_xml3, Not(HasSubstr("geom size=\"0.1\"")));
EXPECT_THAT(saved_xml3, Not(HasSubstr("geom size=\"0.2\"")));
EXPECT_THAT(saved_xml3, Not(HasSubstr("geom size=\"0.3\"")));
mj_deleteSpec(spec);
mj_deleteModel(m1);
mj_deleteModel(m2);
}
TEST_F(DecompilerTest, DoesntSaveInferredStatistics) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="0.2"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("meansize")));
EXPECT_THAT(saved_xml, Not(HasSubstr("meanmass")));
EXPECT_THAT(saved_xml, Not(HasSubstr("meaninertia")));
EXPECT_THAT(saved_xml, Not(HasSubstr("center")));
EXPECT_THAT(saved_xml, Not(HasSubstr("extent")));
EXPECT_THAT(saved_xml, Not(HasSubstr("statistic")));
mj_deleteModel(model);
}
TEST_F(DecompilerTest, VeryLargeNumbers) {
static constexpr char xml[] = R"(
<mujoco>
<compiler angle="radian"/>
<worldbody>
<camera focal="16777217 1" sensorsize="1 1" resolution="100 100"/>
<body pos="1e+20 0 0">
<geom size="1"/>
<joint axis="1 0 0" range="-1e+10 1e+10"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
std::string saved_xml = SaveAndReadXml(model);
// note, focal is float and loses precision 16777217 -> 16777216
EXPECT_THAT(saved_xml, HasSubstr("focal=\"16777216 1\""));
EXPECT_THAT(saved_xml, HasSubstr("pos=\"1e+20 0 0\""));
EXPECT_THAT(saved_xml, HasSubstr("range=\"-1e+10 1e+10\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, ExpandAttach) {
static constexpr char xml_parent[] = R"(
<mujoco>
<asset>
<model name="b" file="b.xml" />
</asset>
<worldbody>
<attach model="b" body="b" prefix="b" />
</worldbody>
</mujoco>
)";
static constexpr char xml_child[] = R"(
<mujoco>
<default>
<default class="b"/>
</default>
<worldbody>
<body name="b">
<geom type="box" size="0.1 0.1 0.1"/>
<joint name="b"/>
</body>
</worldbody>
<actuator>
<position joint="b" class="b"/>
</actuator>
</mujoco>
)";
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
mj_addBufferVFS(vfs.get(), "b.xml", xml_child, sizeof(xml_child));
std::array<char, 1024> er;
mjModel* m = LoadModelFromString(xml_parent, er.data(), er.size(), vfs.get());
ASSERT_THAT(m, NotNull()) << er.data();
std::string saved_xml = SaveAndReadXml(m);
EXPECT_THAT(saved_xml, HasSubstr("class=\"bb\""));
mj_deleteModel(m);
mj_deleteVFS(vfs.get());
}
TEST_F(XMLWriterTest, WritesCameraOutput) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<camera name="default_cam"/>
<camera name="multi_cam" output="depth normal"/>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
// default output="rgb" should not be written
EXPECT_THAT(saved_xml, Not(HasSubstr("output=\"rgb\"")));
// non-default output should be written
EXPECT_THAT(saved_xml, HasSubstr("output=\"depth normal\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, WritesCameraOutputDefault) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<default class="multi">
<camera output="depth distance"/>
</default>
</default>
<worldbody>
<camera name="default_cam"/>
<camera name="class_cam" class="multi"/>
<camera name="override_cam" class="multi" output="segmentation"/>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
// save and reload to verify round-trip
mjModel* mtemp = LoadModelFromString(saved_xml);
ASSERT_THAT(mtemp, NotNull());
EXPECT_EQ(mtemp->ncam, 3);
EXPECT_EQ(mtemp->cam_output[0], mjCAMOUT_RGB);
EXPECT_EQ(mtemp->cam_output[1], mjCAMOUT_DEPTH | mjCAMOUT_DIST);
EXPECT_EQ(mtemp->cam_output[2], mjCAMOUT_SEG);
mj_deleteModel(mtemp);
mj_deleteModel(model);
}
} // namespace
} // namespace mujoco
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