Taylor Howell
646455406c
PiperOrigin-RevId: 668435872 Change-Id: I9042eb3f119cc778675944e7cfb8f6be0e9379b2
419 lines
11 KiB
C++
419 lines
11 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 engine/engine_util_solve.c.
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#include <array>
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#include <cstddef>
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#include <cstdint>
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#include <cstring>
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <mujoco/mjdata.h>
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#include <mujoco/mujoco.h>
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#include "src/engine/engine_util_misc.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::DoubleNear;
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using ::testing::HasSubstr;
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using ::testing::Ne;
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using ::testing::StrEq;
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using ::testing::ElementsAreArray;
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using UtilMiscTest = MujocoTest;
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TEST_F(UtilMiscTest, PrintsMemoryWarning) {
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EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 10)),
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HasSubstr("1K bytes"));
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EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 20)),
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HasSubstr("1M bytes"));
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EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 30)),
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HasSubstr("1G bytes"));
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EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 40)),
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HasSubstr("1T bytes"));
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EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 50)),
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HasSubstr("1P bytes"));
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EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 60)),
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HasSubstr("1E bytes"));
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EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 30) + 1),
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HasSubstr("1073741825 bytes"));
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}
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TEST_F(UtilMiscTest, Sigmoid) {
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// function values
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EXPECT_EQ(mju_sigmoid(-1), 0);
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EXPECT_EQ(mju_sigmoid(0), 0);
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EXPECT_EQ(mju_sigmoid(0.5), 0.5);
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EXPECT_EQ(mju_sigmoid(1), 1);
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EXPECT_EQ(mju_sigmoid(2), 1);
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// epsilon for finite-differencing
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const mjtNum dx = 1e-7;
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// derivative at 0
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mjtNum dy_dx_0 = (mju_sigmoid(0 + dx) - mju_sigmoid(0)) / dx;
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EXPECT_THAT(dy_dx_0, DoubleNear(0, dx));
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// derivative at 1
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mjtNum dy_dx_1 = (mju_sigmoid(1) - mju_sigmoid(1 - dx)) / dx;
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EXPECT_THAT(dy_dx_1, DoubleNear(0, dx));
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// derivative at 0.5
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const mjtNum x = 0.5;
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mjtNum dy_dx_0p5 = (mju_sigmoid(x + dx) - mju_sigmoid(x - dx)) / (2*dx);
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mjtNum expected = 30*x*x*x*x - 60*x*x*x + 30*x*x;
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EXPECT_THAT(dy_dx_0p5, DoubleNear(expected, dx));
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}
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TEST_F(UtilMiscTest, SphereWrap) {
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static constexpr char xml[] = R"(
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<mujoco>
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<default>
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<site size=".015" rgba="1 0 0 1"/>
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</default>
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<worldbody>
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<light pos="0 0 3"/>
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<site name="fixed" pos="0 0 1"/>
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<geom name="sphere" size=".1" pos="0 0 0.5"/>
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<site name="sidesite" pos=".52 0 .5"/>
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<body pos="0 0 .1">
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<freejoint/>
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<geom size=".05"/>
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<site name="body" pos="0 0 .05"/>
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</body>
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</worldbody>
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<tendon>
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<spatial name="tendon" range="0 0.8">
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<site site="fixed"/>
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<geom geom="sphere" sidesite="sidesite"/>
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<site site="body"/>
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</spatial>
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</tendon>
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<sensor>
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<tendonpos tendon="tendon"/>
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</sensor>
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<keyframe>
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<key qpos="-0.00653537 -0.068031 0.301253 0.982186 -0.180204 -0.0273515 0.0457068"/>
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<key qpos="-0.00653537 -0.069 0.301253 0.982186 -0.180204 -0.0273515 0.0457068"/>
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</keyframe>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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mjData* data = mj_makeData(model);
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// measure tendon length for keyframe 0
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mj_resetDataKeyframe(model, data, 0);
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mj_forward(model, data);
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mjtNum ten_length0 = data->sensordata[0];
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// measure tendon length for keyframe 1
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mj_resetDataKeyframe(model, data, 1);
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mj_forward(model, data);
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mjtNum ten_length1 = data->sensordata[0];
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// difference should be small
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mjtNum diff = ten_length1 - ten_length0;
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EXPECT_LT(mju_abs(diff), 1e-3);
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mj_deleteData(data);
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mj_deleteModel(model);
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}
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// compute time constant as in Millard et al. (2013) https://doi.org/10.1115/1.4023390
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mjtNum muscleDynamicsMillard(mjtNum ctrl, mjtNum act, const mjtNum prm[2]) {
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// clamp control
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mjtNum ctrlclamp = mju_clip(ctrl, 0, 1);
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// clamp activation
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mjtNum actclamp = mju_clip(act, 0, 1);
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mjtNum tau;
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if (ctrlclamp > act) {
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tau = prm[0] * (0.5 + 1.5*actclamp);
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} else {
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tau = prm[1] / (0.5 + 1.5*actclamp);
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}
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// filter output
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return (ctrlclamp-act) / mjMAX(mjMINVAL, tau);
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}
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TEST_F(UtilMiscTest, SmoothMuscleDynamics) {
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mjtNum prm[3] = {0.01, 0.04, 0.0};
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// exact equality if tau_smooth = 0
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for (mjtNum ctrl : {-0.1, 0.0, 0.4, 0.5, 1.0, 1.1}) {
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for (mjtNum act : {-0.1, 0.0, 0.4, 0.5, 1.0, 1.1}) {
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mjtNum actdot_old = muscleDynamicsMillard(ctrl, act, prm);
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mjtNum actdot_new = mju_muscleDynamics(ctrl, act, prm);
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EXPECT_EQ(actdot_new, actdot_old);
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}
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}
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// positive tau_smooth
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mjtNum tau_smooth = 0.2;
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prm[2] = tau_smooth;
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mjtNum act = 0.5;
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mjtNum eps = 1e-6;
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mjtNum ctrl = 0.4 - eps; // smaller than act by just over 0.5*tau_smooth
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EXPECT_EQ(muscleDynamicsMillard(ctrl, act, prm),
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mju_muscleDynamics(ctrl, act, prm));
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ctrl = 0.6 + eps; // larger than act by just over 0.5*tau_smooth
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EXPECT_EQ(muscleDynamicsMillard(ctrl, act, prm),
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mju_muscleDynamics(ctrl, act, prm));
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// right in the middle should give average of time constants
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mjtNum tau_act = 0.2;
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mjtNum tau_deact = 0.3;
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for (mjtNum dctrl : {0.0, 0.1, 0.2, 1.0, 1.1}) {
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mjtNum lower = mju_muscleDynamicsTimescale(-dctrl,
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tau_act, tau_deact, tau_smooth);
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mjtNum upper = mju_muscleDynamicsTimescale(dctrl,
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tau_act, tau_deact, tau_smooth);
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EXPECT_EQ(0.5*(upper + lower), 0.5*(tau_act + tau_deact));
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}
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}
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TEST_F(UtilMiscTest, MuscleGainLength) {
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mjtNum lmin = 0.5;
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mjtNum lmax = 1.5;
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EXPECT_EQ(mju_muscleGainLength(0.0, lmin, lmax), 0);
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EXPECT_EQ(mju_muscleGainLength(0.5, lmin, lmax), 0);
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EXPECT_EQ(mju_muscleGainLength(0.75, lmin, lmax), 0.5);
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EXPECT_EQ(mju_muscleGainLength(1.0, lmin, lmax), 1);
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EXPECT_EQ(mju_muscleGainLength(1.25, lmin, lmax), 0.5);
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EXPECT_EQ(mju_muscleGainLength(1.5, lmin, lmax), 0);
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EXPECT_EQ(mju_muscleGainLength(2.0, lmin, lmax), 0);
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}
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// --------------------------------- Base64 ------------------------------------
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using Base64Test = MujocoTest;
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TEST_F(Base64Test, mju_encodeBase64) {
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std::array<char, 9> buffer;
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std::array<std::uint8_t, 5> arr = {15, 134, 190, 255, 240};
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std::size_t n = mju_encodeBase64(buffer.data(), arr.data(), arr.size());
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EXPECT_THAT(buffer.data(), StrEq("D4a+//A="));
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EXPECT_THAT(n, std::strlen(buffer.data()) + 1);
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EXPECT_THAT(n, buffer.size());
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}
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TEST_F(Base64Test, mju_encodeBase64_align0) {
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std::array<char, 5> buffer;
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std::array<std::uint8_t, 3> arr = {'A', 'B', 'C'};
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std::size_t n = mju_encodeBase64(buffer.data(), arr.data(), arr.size());
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EXPECT_THAT(buffer.data(), StrEq("QUJD"));
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EXPECT_THAT(n, std::strlen(buffer.data()) + 1);
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EXPECT_THAT(n, buffer.size());
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}
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TEST_F(Base64Test, mju_encodeBase64_align1) {
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std::array<char, 5> buffer;
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std::array<std::uint8_t, 2> arr = {'A', 'B'};
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std::size_t n = mju_encodeBase64(buffer.data(), arr.data(), arr.size());
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EXPECT_THAT(buffer.data(), StrEq("QUI="));
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EXPECT_THAT(n, std::strlen(buffer.data()) + 1);
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EXPECT_THAT(n, buffer.size());
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}
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TEST_F(Base64Test, mju_encodeBase64_align2) {
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std::array<char, 5> buffer;
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std::array<std::uint8_t, 1> arr = {'A'};
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std::size_t n = mju_encodeBase64(buffer.data(), arr.data(), arr.size());
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EXPECT_THAT(buffer.data(), StrEq("QQ=="));
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EXPECT_THAT(n, std::strlen(buffer.data()) + 1);
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EXPECT_THAT(n, buffer.size());
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}
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TEST_F(Base64Test, mju_encodeBase64_null) {
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std::array<char, 1> buffer;
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std::size_t n = mju_encodeBase64(buffer.data(), NULL, 0);
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EXPECT_THAT(n, 1);
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EXPECT_THAT(buffer[0], '\0');
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}
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TEST_F(Base64Test, mju_encodeBase64_ones) {
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std::array<char, 5> buffer;
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std::array<std::uint8_t, 3> arr = {255, 255, 255};
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std::size_t n = mju_encodeBase64(buffer.data(), arr.data(), arr.size());
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EXPECT_THAT(buffer.data(), StrEq("////"));
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EXPECT_THAT(n, std::strlen(buffer.data()) + 1);
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EXPECT_THAT(n, buffer.size());
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}
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TEST_F(Base64Test, mju_isValidBase64_emptyStr) {
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std::size_t n = mju_isValidBase64("");
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EXPECT_THAT(n, 0);
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}
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TEST_F(Base64Test, mju_isValidBase64_invalid1) {
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std::size_t n = mju_isValidBase64("A");
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EXPECT_THAT(n, 0);
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}
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TEST_F(Base64Test, mju_isValidBase64_invalid2) {
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std::size_t n = mju_isValidBase64("AAA");
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EXPECT_THAT(n, 0);
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}
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TEST_F(Base64Test, mju_isValidBase64_invalid3) {
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std::size_t n = mju_isValidBase64("A==A");
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EXPECT_THAT(n, 0);
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}
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TEST_F(Base64Test, mju_isValidBase64_invalid5) {
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std::size_t n = mju_isValidBase64("A===");
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EXPECT_THAT(n, 0);
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}
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TEST_F(Base64Test, mju_isValidBase64_invalid6) {
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std::size_t n = mju_isValidBase64("aaaa====");
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EXPECT_THAT(n, 0);
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}
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TEST_F(Base64Test, mju_isValidBase64_invalid7) {
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std::size_t n = mju_isValidBase64("A#AA");
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EXPECT_THAT(n, 0);
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}
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TEST_F(Base64Test, mju_isValidBase64_valid1) {
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std::size_t n = mju_isValidBase64("AB+/");
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EXPECT_THAT(n, 3);
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}
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TEST_F(Base64Test, mju_isValidBase64_valid2) {
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std::size_t n = mju_isValidBase64("ABC=");
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EXPECT_THAT(n, 2);
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}
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TEST_F(Base64Test, mju_isValidBase64_valid3) {
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std::size_t n = mju_isValidBase64("AB==");
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EXPECT_THAT(n, 1);
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}
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TEST_F(Base64Test, mju_isValidBase64_valid4) {
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std::size_t n = mju_isValidBase64("az09AZ+/11==");
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EXPECT_THAT(n, 7);
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}
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TEST_F(Base64Test, mju_decodeBase64) {
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std::array<std::uint8_t, 5> buffer;
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const char *s = "D4a+//A=";
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std::size_t n = mju_decodeBase64(buffer.data(), s);
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EXPECT_THAT(buffer, ElementsAreArray({15, 134, 190, 255, 240}));
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EXPECT_THAT(n, buffer.size());
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}
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TEST_F(Base64Test, mju_decodeBase6_align0) {
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std::array<std::uint8_t, 3> buffer;
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const char *s = "QUJD";
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std::size_t n = mju_decodeBase64(buffer.data(), s);
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EXPECT_THAT(buffer, ElementsAreArray({'A', 'B', 'C'}));
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EXPECT_THAT(n, buffer.size());
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}
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TEST_F(Base64Test, mju_decodeBase64_align1) {
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std::array<std::uint8_t, 2> buffer;
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const char *s = "QUI=";
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std::size_t n = mju_decodeBase64(buffer.data(), s);
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EXPECT_THAT(buffer, ElementsAreArray({'A', 'B'}));
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EXPECT_THAT(n, buffer.size());
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}
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TEST_F(Base64Test, mju_decodeBase64_align2) {
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std::array<std::uint8_t, 1> buffer;
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const char *s = "QQ==";
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std::size_t n = mju_decodeBase64(buffer.data(), s);
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EXPECT_THAT(buffer, ElementsAreArray({'A'}));
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EXPECT_THAT(n, buffer.size());
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}
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TEST_F(Base64Test, mju_decodeBase64_null) {
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const char *s = "";
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std::size_t n = mju_decodeBase64(NULL, s);
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EXPECT_THAT(n, 0);
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}
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TEST_F(Base64Test, mju_decodeBase64_ones) {
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std::array<std::uint8_t, 3> buffer;
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const char *s = "////";
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std::size_t n = mju_decodeBase64(buffer.data(), s);
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EXPECT_THAT(buffer, ElementsAreArray({255, 255, 255}));
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EXPECT_THAT(n, buffer.size());
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}
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TEST_F(Base64Test, decodeAndEncode) {
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std::array<std::uint8_t, 5> buffer1;
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std::array<char, 9> buffer2;
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const char *s = "D4a+/vA=";
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mju_decodeBase64(buffer1.data(), s);
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mju_encodeBase64(buffer2.data(), buffer1.data(), buffer1.size());
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EXPECT_THAT(buffer2.data(), StrEq(s));
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}
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} // namespace
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} // namespace mujoco
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