Yuval Tassa
2dd518734f
PiperOrigin-RevId: 684797464 Change-Id: I3389416cb69a8564b5119f6e3944b579893ea511
1481 lines
41 KiB
C++
1481 lines
41 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 <array>
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#include <clocale>
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#include <cstdio>
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#include <filesystem>
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#include <string>
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#include <vector>
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <absl/strings/match.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjtnum.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 ::testing::FloatEq;
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using XMLWriterTest = PluginTest;
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TEST_F(XMLWriterTest, EmptyModel) {
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static constexpr char xml[] = "<mujoco/>";
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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("default")));
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mj_deleteModel(model);
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}
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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, KeepsBoundMassInertia) {
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static constexpr char xml[] = R"(
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<mujoco>
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<compiler boundmass="0.1" boundinertia="0.2"/>
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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("boundmass=\"0.1\""));
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EXPECT_THAT(saved_xml, HasSubstr("boundinertia=\"0.2\""));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, DropsZeroBoundMassInertia) {
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static constexpr char xml[] = R"(
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<mujoco>
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<compiler boundmass="0" boundinertia="0"/>
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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("boundmass")));
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EXPECT_THAT(saved_xml, Not(HasSubstr("boundinertia")));
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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, KeepsAutoLimitsFalse) {
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static constexpr char xml[] = R"(
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<mujoco>
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<compiler autolimits="false"/>
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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=\"false\""));
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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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EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, KeepsExplicitJointLimited) {
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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, Not(HasSubstr("autolimits=\"true\"")));
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EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
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EXPECT_THAT(saved_xml, 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, Not(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, KeepsExplicitTendonLimitedIfAutoLimits) {
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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, Not(HasSubstr("autolimits=\"true\"")));
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EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
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EXPECT_THAT(saved_xml, 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, Not(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, KeepsExplicitActlimitedIfAutoLimits) {
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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, Not(HasSubstr("autolimits=\"true\"")));
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EXPECT_THAT(saved_xml, HasSubstr("actrange=\"-1 1\""));
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EXPECT_THAT(saved_xml, 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);
|
|
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" name="f4">
|
|
<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 name="f4" childclass="dframe">
|
|
<body pos="1 3 0">
|
|
<geom pos="0 0 1"/>
|
|
</body>
|
|
</frame>
|
|
</frame>
|
|
</frame>
|
|
<frame>
|
|
<light pos="0 0 1" dir="0 0 -1"/>
|
|
</frame>
|
|
</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>
|
|
<composite type="grid" count="2 2 1" spacing="0.05">
|
|
<skin texcoord="true"/>
|
|
<geom size=".01"/>
|
|
</composite>
|
|
</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, 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);
|
|
|
|
// 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 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 file is meant to fail, skip it
|
|
if (absl::StrContains(p.path().string(), "100_humanoids") ||
|
|
absl::StrContains(p.path().string(), "malformed_") ||
|
|
absl::StrContains(p.path().string(), "touch_grid") ||
|
|
absl::StrContains(p.path().string(), "gmsh_") ||
|
|
absl::StrContains(p.path().string(), "shark_") ||
|
|
absl::StrContains(p.path().string(), "cow") ||
|
|
absl::StrContains(p.path().string(), "spheremesh")) {
|
|
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() << " from " << xml.c_str();
|
|
} else {
|
|
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
|
|
std::string field = "";
|
|
mjtNum 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_deleteModel(mtemp);
|
|
mj_deleteVFS(vfs);
|
|
mju_free(vfs);
|
|
mju_free(buffer);
|
|
|
|
// delete model
|
|
mj_deleteModel(m);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// ---------------- test CopyBack functionality (decompiler) ------------------
|
|
using DecompilerTest = MujocoTest;
|
|
TEST_F(DecompilerTest, SavesStatitics) {
|
|
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, DoesntSaveInferredStatitics) {
|
|
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);
|
|
}
|
|
|
|
} // namespace
|
|
} // namespace mujoco
|