Saran Tunyasuvunakool
5e989d18c3
Also unify warning options across Clang and GCC and fix minor issues that was surfaced by this. PiperOrigin-RevId: 508619655 Change-Id: I59b777bf2dfea4422485670e2427c7d3f5cf6405
1044 lines
29 KiB
C++
1044 lines
29 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 xml/xml_native_writer.cc.
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#if defined(__unix__) || (defined(__APPLE__) && defined(__MACH__))
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#include <unistd.h>
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#endif
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#include <algorithm>
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#include <array>
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#include <clocale>
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#include <cstddef>
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#include <cstdio>
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#include <cstdlib>
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#include <cstring>
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#include <filesystem>
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#include <memory>
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#include <sstream>
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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/container/flat_hash_set.h>
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#include <absl/strings/match.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjtnum.h>
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#include <mujoco/mjxmacro.h>
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#include <mujoco/mujoco.h>
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#include "src/cc/array_safety.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::Not;
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using ::testing::NotNull;
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using XMLWriterTest = MujocoTest;
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TEST_F(XMLWriterTest, SavesMemory) {
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{
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static constexpr char xml[] = R"(
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<mujoco>
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<size memory=" 1023 "/>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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ASSERT_THAT(model, NotNull());
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("memory=\"1023\""));
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mj_deleteModel(model);
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}
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{
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static constexpr char xml[] = R"(
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<mujoco>
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<size memory="1024"/>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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ASSERT_THAT(model, NotNull());
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("memory=\"1K\""));
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mj_deleteModel(model);
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}
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{
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static constexpr char xml[] = R"(
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<mujoco>
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<size memory="4096"/>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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ASSERT_THAT(model, NotNull());
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("memory=\"4K\""));
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mj_deleteModel(model);
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}
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{
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static constexpr char xml[] = R"(
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<mujoco>
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<size memory="1048576"/>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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ASSERT_THAT(model, NotNull());
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("memory=\"1M\""));
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mj_deleteModel(model);
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}
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{
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static constexpr char xml[] = R"(
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<mujoco>
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<size memory="1047552"/>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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ASSERT_THAT(model, NotNull());
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("memory=\"1023K\""));
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mj_deleteModel(model);
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}
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}
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TEST_F(XMLWriterTest, SavesDisableSensor) {
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static constexpr char xml[] = R"(
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<mujoco>
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<option>
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<flag sensor="disable"/>
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</option>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("sensor=\"disable\""));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, EmptyUserSensor) {
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static constexpr char xml[] = R"(
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<mujoco>
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<sensor>
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<user dim="2" needstage="vel"/>
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</sensor>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("dim=\"2\""));
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EXPECT_THAT(saved_xml, HasSubstr("needstage=\"vel\""));
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EXPECT_THAT(saved_xml, HasSubstr("datatype=\"real\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("objtype")));
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EXPECT_THAT(saved_xml, Not(HasSubstr("objname")));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, KeepsEmptyClasses) {
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static constexpr char xml[] = R"(
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<mujoco>
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<default>
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<default class="empty_referenced"/>
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<default class="empty_unreferenced"/>
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<default class="regular">
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<geom size="0.3"/>
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</default>
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</default>
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<worldbody>
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<geom class="regular"/>
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<geom class="empty_referenced" size="0.2"/>
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</worldbody>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("default class=\"regular\""));
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EXPECT_THAT(saved_xml, HasSubstr("default class=\"empty_referenced\""));
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EXPECT_THAT(saved_xml, HasSubstr("default class=\"empty_unreferenced\""));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, KeepsExplicitInertial) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body>
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<geom size="0.2"/>
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<inertial pos="0 1 2" mass="3"/>
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</body>
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</worldbody>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("<inertial pos=\"0 1 2\" mass=\"3\""));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, NotAddsInertial) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body>
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<geom size="0.2"/>
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</body>
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</worldbody>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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ASSERT_THAT(model, NotNull());
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, Not(HasSubstr("inertial")));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, DropsInertialIfFromGeom) {
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static constexpr char xml[] = R"(
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<mujoco>
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<compiler inertiafromgeom="true"/>
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<worldbody>
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<body>
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<inertial pos="0 1 2" mass="3"/>
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<geom size="0.2"/>
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</body>
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</worldbody>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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ASSERT_THAT(model, NotNull());
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, Not(HasSubstr("inertial")));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, DoesNotKeepInferredJointLimited) {
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static constexpr char xml[] = R"(
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<mujoco>
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<compiler angle="radian" autolimits="true" />
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<worldbody>
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<body>
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<joint name="hinge" range="-1 1"/>
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<geom size="1"/>
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</body>
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</worldbody>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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ASSERT_THAT(model, NotNull());
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("limited=\"true\"")));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, DoesNotKeepExplicitJointLimitedIfAutoLimits) {
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static constexpr char xml[] = R"(
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<mujoco>
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<compiler angle="radian" autolimits="true" />
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<worldbody>
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<body>
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<joint name="hinge" limited="true" range="-1 1"/>
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<geom size="1"/>
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</body>
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</worldbody>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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ASSERT_THAT(model, NotNull());
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
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EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("limited=\"true\"")));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, KeepsJointLimitedFalseIfAutoLimits) {
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static constexpr char xml[] = R"(
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<mujoco>
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<compiler angle="radian" autolimits="true" />
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<worldbody>
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<body>
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<joint name="hinge" limited="false" range="-1 1"/>
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<geom size="1"/>
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</body>
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</worldbody>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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ASSERT_THAT(model, NotNull());
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("limited=\"false\" range=\"-1 1\""));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, DoesNotKeepInferredTendonLimited) {
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static constexpr char xml[] = R"(
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<mujoco>
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<compiler angle="radian" autolimits="true" />
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<worldbody>
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<body>
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<joint type="slide"/>
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<geom size="1"/>
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<site name="s1"/>
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</body>
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<site name="s2"/>
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</worldbody>
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<tendon>
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<spatial range="-1 1">
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<site site="s1"/>
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<site site="s2"/>
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</spatial>
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</tendon>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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ASSERT_THAT(model, NotNull());
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
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EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("limited=\"true\"")));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, DoesNotKeepExplicitTendonLimitedIfAutoLimits) {
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static constexpr char xml[] = R"(
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<mujoco>
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<compiler angle="radian" autolimits="true" />
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<worldbody>
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<body>
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<joint type="slide"/>
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<geom size="1"/>
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<site name="s1"/>
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</body>
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<site name="s2"/>
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</worldbody>
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<tendon>
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<spatial limited="true" range="-1 1">
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<site site="s1"/>
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<site site="s2"/>
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</spatial>
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</tendon>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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ASSERT_THAT(model, NotNull());
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
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EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("limited=\"true\"")));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, KeepsTendonLimitedFalseIfAutoLimits) {
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static constexpr char xml[] = R"(
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<mujoco>
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<compiler angle="radian" autolimits="true" />
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<worldbody>
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<body>
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<joint type="slide"/>
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<geom size="1"/>
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<site name="s1"/>
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</body>
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<site name="s2"/>
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</worldbody>
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<tendon>
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<spatial limited="false" range="-1 1">
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<site site="s1"/>
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<site site="s2"/>
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</spatial>
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</tendon>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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ASSERT_THAT(model, NotNull());
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("limited=\"false\" range=\"-1 1\""));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, DoesNotKeepInferredActlimited) {
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static constexpr char xml[] = R"(
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<mujoco>
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<compiler autolimits="true" />
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<worldbody>
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<body>
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<joint name="hinge"/>
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<geom size="1"/>
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</body>
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</worldbody>
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<actuator>
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<general dyntype="filter" joint="hinge" actrange="-1 1"/>
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</actuator>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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ASSERT_THAT(model, NotNull());
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
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EXPECT_THAT(saved_xml, HasSubstr("actrange=\"-1 1\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("actlimited=\"true\"")));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, DoesNotKeepExplicitActlimitedIfAutoLimits) {
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static constexpr char xml[] = R"(
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<mujoco>
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<compiler autolimits="true" />
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<worldbody>
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<body>
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<joint name="hinge"/>
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<geom size="1"/>
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</body>
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</worldbody>
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<actuator>
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<general dyntype="filter" joint="hinge" actlimited="true" actrange="-1 1"/>
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</actuator>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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ASSERT_THAT(model, NotNull());
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
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EXPECT_THAT(saved_xml, HasSubstr("actrange=\"-1 1\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("actlimited=\"true\"")));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, KeepsActlimitedFalse) {
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static constexpr char xml[] = R"(
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<mujoco>
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<compiler autolimits="true" />
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<worldbody>
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<body>
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<joint name="hinge"/>
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<geom size="1"/>
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</body>
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</worldbody>
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<actuator>
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<general dyntype="filter" joint="hinge" actlimited="false" actrange="-1 1"/>
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</actuator>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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ASSERT_THAT(model, NotNull());
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("actlimited=\"false\" actrange=\"-1 1\""));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, DoesNotKeepInferredCtrllimited) {
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static constexpr char xml[] = R"(
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<mujoco>
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<compiler autolimits="true" />
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<worldbody>
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<body>
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<joint name="hinge"/>
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<geom size="1"/>
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</body>
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</worldbody>
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<actuator>
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<general joint="hinge" ctrlrange="-1 1"/>
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</actuator>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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ASSERT_THAT(model, NotNull());
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("ctrlrange=\"-1 1\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("ctrllimited=\"true\"")));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, DoesNotKeepExplicitCtrllimitedIfAutoLimits) {
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static constexpr char xml[] = R"(
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<mujoco>
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<compiler autolimits="true" />
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<worldbody>
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<body>
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<joint name="hinge"/>
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<geom size="1"/>
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</body>
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</worldbody>
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<actuator>
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<general joint="hinge" ctrllimited="true" ctrlrange="-1 1"/>
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</actuator>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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ASSERT_THAT(model, NotNull());
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("ctrlrange=\"-1 1\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("ctrllimited=\"true\"")));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, KeepsCtrllimitedFalse) {
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static constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body>
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<joint name="hinge"/>
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<geom size="1"/>
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</body>
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</worldbody>
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<actuator>
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<general joint="hinge" ctrllimited="false" ctrlrange="-1 1"/>
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</actuator>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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ASSERT_THAT(model, NotNull());
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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, 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, DoesNotKeepExplicitForcelimited) {
|
|
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, 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, 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\""));
|
|
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, 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 name="B0_0" pos="0 0 0">
|
|
<composite type="cloth" count="2 2 1" spacing="0.05">
|
|
<skin texcoord="true"/>
|
|
<geom type="ellipsoid" size="1 1 1"/>
|
|
</composite>
|
|
</body>
|
|
</worldbody>
|
|
</mujoco>
|
|
)";
|
|
mjModel* model = LoadModelFromString(xml);
|
|
ASSERT_THAT(model, NotNull());
|
|
EXPECT_THAT(model->nskin, 1);
|
|
|
|
mjModel* mtemp = LoadModelFromString(SaveAndReadXml(model));
|
|
ASSERT_THAT(mtemp, NotNull());
|
|
EXPECT_THAT(mtemp->nskin, 1);
|
|
|
|
mj_deleteModel(model);
|
|
mj_deleteModel(mtemp);
|
|
}
|
|
|
|
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"/>
|
|
</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, 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);
|
|
}
|
|
|
|
// 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 re-load 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 {
|
|
protected:
|
|
char* old_locale;
|
|
void SetUp() override {
|
|
this->old_locale = std::setlocale(LC_ALL, nullptr);
|
|
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);
|
|
}
|
|
};
|
|
|
|
TEST_F(XMLWriterLocaleTest, IgnoresLocale) {
|
|
static constexpr char xml[] = R"(
|
|
<mujoco>
|
|
<worldbody>
|
|
<geom type="box" size="0.1 1.23 2.345"/>
|
|
</worldbody>
|
|
</mujoco>
|
|
)";
|
|
mjModel* model = LoadModelFromString(xml);
|
|
ASSERT_THAT(model, NotNull());
|
|
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 loading and saving multiple files ------------------
|
|
namespace mju = ::mujoco::util;
|
|
static constexpr int kFieldSize = 500;
|
|
|
|
// The maximum spacing between a normalised floating point number x and an
|
|
// adjacent normalised number is 2 epsilon |x|; a factor 10 is added accounting
|
|
// for losses during non-idempotent operations such as vector normalizations.
|
|
template<typename T = mjtNum> T Compare(T val1, T val2) {
|
|
T error;
|
|
if (mju_abs(val1) <= 1 || mju_abs(val2) <= 1) {
|
|
// Asbolute precision for small numbers
|
|
error = mju_abs(val1-val2);
|
|
} else {
|
|
// Relative precision for larger numbers
|
|
T magnitude = mju_max(mju_abs(val1), mju_abs(val2));
|
|
error = mju_abs(val1/magnitude - val2/magnitude) / magnitude;
|
|
}
|
|
return error < 2*10*std::numeric_limits<T>::epsilon() ? 0 : error;
|
|
}
|
|
|
|
mjtNum CompareModel(const mjModel* m1, const mjModel* m2,
|
|
char (&field)[kFieldSize]) {
|
|
mjtNum dif, maxdif = 0.0;
|
|
|
|
// define symbols corresponding to number of columns
|
|
// (needed in MJMODEL_POINTERS)
|
|
MJMODEL_POINTERS_PREAMBLE(m1);
|
|
|
|
// compare ints
|
|
#define X(name) \
|
|
if (m1->name != m2->name) {maxdif = 1.0; mju::strcpy_arr(field, #name);}
|
|
MJMODEL_INTS
|
|
#undef X
|
|
if (maxdif > 0) return maxdif;
|
|
|
|
// compare arrays
|
|
#define X(type, name, nr, nc) \
|
|
for (int r=0; r < m1->nr; r++) \
|
|
for (int c=0; c < nc; c++) { \
|
|
dif = Compare(m1->name[r*nc+c], m2->name[r*nc+c]); \
|
|
if (dif > maxdif) { maxdif = dif; mju::strcpy_arr(field, #name);} }
|
|
MJMODEL_POINTERS
|
|
#undef X
|
|
|
|
// compare scalars in mjOption
|
|
#define X(type, name) \
|
|
dif = Compare(m1->opt.name, m2->opt.name); \
|
|
if (dif > maxdif) {maxdif = dif; mju::strcpy_arr(field, #name);}
|
|
MJOPTION_SCALARS
|
|
#undef X
|
|
|
|
// compare arrays in mjOption
|
|
#define X(name, n) \
|
|
for (int c=0; c < n; c++) { \
|
|
dif = Compare(m1->opt.name[c], m2->opt.name[c]); \
|
|
if (dif > maxdif) {maxdif = dif; mju::strcpy_arr(field, #name);} }
|
|
MJOPTION_VECTORS
|
|
#undef X
|
|
|
|
// Return largest difference and field name
|
|
return maxdif;
|
|
}
|
|
|
|
TEST_F(XMLWriterTest, WriteReadCompare) {
|
|
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 file is meant to fail, skip it
|
|
if (absl::StrContains(p.path().string(), "malformed_") ||
|
|
absl::StrContains(p.path().string(), "plugin")) {
|
|
continue;
|
|
}
|
|
|
|
// load model
|
|
std::array<char, 1000> error;
|
|
mjModel* m = mj_loadXML(
|
|
xml.c_str(), nullptr, error.data(), error.size());
|
|
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
|
|
mjModel* mtemp =
|
|
LoadModelFromString(SaveAndReadXml(m), error.data(), error.size());
|
|
|
|
if (!mtemp) {
|
|
// if failing because assets are missing, accept the test
|
|
ASSERT_THAT(error.data(), HasSubstr("file")) << error.data();
|
|
} else {
|
|
// compare and delete
|
|
char field[kFieldSize] = "";
|
|
mjtNum result = CompareModel(m, mtemp, field);
|
|
EXPECT_LE(result, 0) << "Loaded and saved models are different!\n"
|
|
<< "Affected file " << p.path().string() << '\n'
|
|
<< "Different field: " << field << '\n';
|
|
mj_deleteModel(mtemp);
|
|
}
|
|
|
|
// delete original structures
|
|
mj_deleteData(d);
|
|
mj_deleteModel(m);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
} // namespace
|
|
} // namespace mujoco
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