Yuval Tassa
4c066a26b5
Also remove unused ampersands from `mjVISSTRING` names, these are a remnant from a very old version of the UI framework. PiperOrigin-RevId: 593469811 Change-Id: I0f6f73c9f5d2c61b2280f395f76434b0710ce4f3
1394 lines
53 KiB
Python
1394 lines
53 KiB
Python
# Copyright 2022 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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# ==============================================================================
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"""Tests for MuJoCo Python bindings."""
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import contextlib
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import copy
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import pickle
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import sys
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from absl.testing import absltest
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from absl.testing import parameterized
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import mujoco
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import numpy as np
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TEST_XML = r"""
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<mujoco model="test">
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<compiler coordinate="local" angle="radian" eulerseq="xyz"/>
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<option timestep="0.002" gravity="0 0 -9.81"/>
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<visual>
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<global fovy="50" />
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<quality shadowsize="51" />
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</visual>
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<worldbody>
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<geom name="myplane" type="plane" size="10 10 1"/>
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<body name="mybox" pos="0 0 0.1">
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<geom name="mybox" type="box" size="0.1 0.1 0.1" mass="0.25"/>
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<freejoint name="myfree"/>
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</body>
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<body>
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<inertial pos="0 0 0" mass="1" diaginertia="1 1 1"/>
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<site pos="0 0 -1" name="mysite" type="sphere"/>
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<joint name="myhinge" type="hinge" axis="0 1 0" damping="1"/>
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</body>
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<body>
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<inertial pos="0 0 0" mass="1" diaginertia="1 1 1"/>
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<joint name="myball" type="ball"/>
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</body>
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<body mocap="true" pos="42 0 42">
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<geom type="sphere" size="0.1"/>
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</body>
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</worldbody>
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<actuator>
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<position name="myactuator" joint="myhinge"/>
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</actuator>
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<sensor>
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<jointvel name="myjointvel" joint="myhinge"/>
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<accelerometer name="myaccelerometer" site="mysite"/>
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</sensor>
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</mujoco>
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"""
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TEST_XML_SENSOR = r"""
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<mujoco model="test">
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<worldbody>
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<geom name="myplane" type="plane" size="10 10 1"/>
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</worldbody>
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<sensor>
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<user objtype="geom" objname="myplane"
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datatype="real" needstage="vel" dim="1"/>
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</sensor>
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</mujoco>
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"""
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TEST_XML_PLUGIN = r"""
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<mujoco>
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<option gravity="0 0 0"/>
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<extension>
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<plugin plugin="mujoco.elasticity.cable"/>
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</extension>
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<worldbody>
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<composite type="cable" curve="s" count="41 1 1" size="1" offset="0 0 1" initial="none">
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<plugin plugin="mujoco.elasticity.cable">
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<config key="twist" value="1e6"/>
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<config key="bend" value="1e9"/>
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</plugin>
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<joint kind="main" damping="2"/>
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<geom type="capsule" size=".005" density="1"/>
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</composite>
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</worldbody>
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</mujoco>
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"""
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@contextlib.contextmanager
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def temporary_callback(setter, callback):
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setter(callback)
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yield
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setter(None)
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class MuJoCoBindingsTest(parameterized.TestCase):
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def setUp(self):
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super().setUp()
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self.model: mujoco.MjModel = mujoco.MjModel.from_xml_string(TEST_XML)
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self.data = mujoco.MjData(self.model)
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def test_load_xml_can_handle_name_clash(self):
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xml_1 = r"""
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<mujoco>
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<worldbody>
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<geom name="plane" type="plane" size="1 1 1"/>
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<include file="model_.xml"/>
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<include file="model__.xml"/>
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</worldbody>
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</mujoco>"""
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xml_2 = rb"""<mujoco><geom name="box" type="box" size="1 1 1"/></mujoco>"""
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xml_3 = rb"""<mujoco><geom name="ball" type="sphere" size="1"/></mujoco>"""
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model = mujoco.MjModel.from_xml_string(
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xml_1, {'model_.xml': xml_2, 'model__.xml': xml_3})
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self.assertEqual(
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mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_GEOM, 'plane'), 0)
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self.assertEqual(
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mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_GEOM, 'box'), 1)
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self.assertEqual(
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mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_GEOM, 'ball'), 2)
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def test_can_read_array(self):
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np.testing.assert_array_equal(
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self.model.body_pos,
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[[0, 0, 0], [0, 0, 0.1], [0, 0, 0], [0, 0, 0], [42.0, 0, 42.0]])
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def test_can_set_array(self):
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self.data.qpos = 0.12345
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np.testing.assert_array_equal(
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self.data.qpos, [0.12345]*len(self.data.qpos))
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def test_array_is_a_view(self):
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qpos_ref = self.data.qpos
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self.data.qpos = 0.789
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np.testing.assert_array_equal(
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qpos_ref, [0.789]*len(self.data.qpos))
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# This test is disabled on PyPy as it uses sys.getrefcount
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# However PyPy is not officially supported by MuJoCo
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@absltest.skipIf(sys.implementation.name == 'pypy',
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reason='requires sys.getrefcount')
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def test_array_keeps_struct_alive(self):
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model = mujoco.MjModel.from_xml_string(TEST_XML)
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qpos0 = model.qpos0
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qpos_spring = model.qpos_spring
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# This only fails reliably under ASAN, which detects heap-use-after-free.
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# However, often the assertEqual is enough since the memory block is
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# already reused between mjModel deallocation and the subsequent read.
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qpos0[:] = 1
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del model
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self.assertEqual(qpos0[0], 1)
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# When running under test coverage tools, the refcount of objects can be
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# higher than normal. To take this into account, we first measure the
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# refcount of a dummy object with no other referrer.
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dummy = []
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base_refcount = sys.getrefcount(dummy) - 1
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# Here `base` is actually a PyCapsule that holds the raw mjModel* rather
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# than the actual MjModel wrapper object itself.
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capsule = qpos0.base
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self.assertEqual(sys.getrefcount(capsule) - base_refcount, 3)
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del qpos0
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self.assertEqual(sys.getrefcount(capsule) - base_refcount, 2)
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del qpos_spring
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self.assertEqual(sys.getrefcount(capsule) - base_refcount, 1)
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def test_named_indexing_actuator_ctrl(self):
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actuator_id = mujoco.mj_name2id(
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self.model, mujoco.mjtObj.mjOBJ_ACTUATOR, 'myactuator')
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self.assertIs(self.data.actuator('myactuator'),
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self.data.actuator(actuator_id))
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self.assertIs(self.data.actuator('myactuator').ctrl,
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self.data.actuator(actuator_id).ctrl)
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self.assertEqual(self.data.actuator('myactuator').ctrl.shape, (1,))
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# Test that the indexer is returning a view into the underlying struct.
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ctrl_from_indexer = self.data.actuator('myactuator').ctrl
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self.data.ctrl[actuator_id] = 5
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np.testing.assert_array_equal(ctrl_from_indexer, [5])
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self.data.actuator('myactuator').ctrl = 7
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np.testing.assert_array_equal(self.data.ctrl[actuator_id], [7])
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def test_named_indexing_invalid_names_in_model(self):
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with self.assertRaisesRegex(
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KeyError,
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r"Invalid name 'badgeom'\. Valid names: \['mybox', 'myplane'\]"):
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self.model.geom('badgeom')
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def test_named_indexing_no_name_argument_in_model(self):
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with self.assertRaisesRegex(
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KeyError,
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r"Invalid name ''\. Valid names: \['myball', 'myfree', 'myhinge'\]"):
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self.model.joint()
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def test_named_indexing_invalid_names_in_data(self):
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with self.assertRaisesRegex(
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KeyError,
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r"Invalid name 'badgeom'\. Valid names: \['mybox', 'myplane'\]"):
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self.data.geom('badgeom')
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def test_named_indexing_no_name_argument_in_data(self):
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with self.assertRaisesRegex(
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KeyError,
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r"Invalid name ''\. Valid names: \['myball', 'myfree', 'myhinge'\]"):
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self.data.jnt()
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def test_named_indexing_invalid_index_in_model(self):
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with self.assertRaisesRegex(
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IndexError, r'Invalid index 3\. Valid indices from 0 to 2'):
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self.model.geom(3)
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with self.assertRaisesRegex(
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IndexError, r'Invalid index -1\. Valid indices from 0 to 2'):
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self.model.geom(-1)
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def test_named_indexing_invalid_index_in_data(self):
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with self.assertRaisesRegex(
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IndexError, r'Invalid index 3\. Valid indices from 0 to 2'):
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self.data.geom(3)
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with self.assertRaisesRegex(
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IndexError, r'Invalid index -1\. Valid indices from 0 to 2'):
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self.data.geom(-1)
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def test_named_indexing_geom_size(self):
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box_id = mujoco.mj_name2id(self.model, mujoco.mjtObj.mjOBJ_GEOM, 'mybox')
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self.assertIs(self.model.geom('mybox'), self.model.geom(box_id))
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self.assertIs(self.model.geom('mybox').size, self.model.geom(box_id).size)
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self.assertEqual(self.model.geom('mybox').size.shape, (3,))
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# Test that the indexer is returning a view into the underlying struct.
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size_from_indexer = self.model.geom('mybox').size
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self.model.geom_size[box_id] = [7, 11, 13]
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np.testing.assert_array_equal(size_from_indexer, [7, 11, 13])
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self.model.geom('mybox').size = [5, 3, 2]
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np.testing.assert_array_equal(self.model.geom_size[box_id], [5, 3, 2])
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def test_named_indexing_geom_quat(self):
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box_id = mujoco.mj_name2id(self.model, mujoco.mjtObj.mjOBJ_GEOM, 'mybox')
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self.assertIs(self.model.geom('mybox'), self.model.geom(box_id))
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self.assertIs(self.model.geom('mybox').quat, self.model.geom(box_id).quat)
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self.assertEqual(self.model.geom('mybox').quat.shape, (4,))
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# Test that the indexer is returning a view into the underlying struct.
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quat_from_indexer = self.model.geom('mybox').quat
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self.model.geom_quat[box_id] = [5, 10, 15, 20]
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np.testing.assert_array_equal(quat_from_indexer, [5, 10, 15, 20])
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self.model.geom('mybox').quat = [12, 9, 6, 3]
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np.testing.assert_array_equal(self.model.geom_quat[box_id], [12, 9, 6, 3])
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def test_named_indexing_ragged_qpos(self):
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balljoint_id = mujoco.mj_name2id(
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self.model, mujoco.mjtObj.mjOBJ_JOINT, 'myball')
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self.assertIs(self.data.joint('myball'), self.data.joint(balljoint_id))
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self.assertIs(self.data.joint('myball').qpos,
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self.data.joint(balljoint_id).qpos)
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self.assertEqual(self.data.joint('myball').qpos.shape, (4,))
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# Test that the indexer is returning a view into the underlying struct.
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qpos_from_indexer = self.data.joint('myball').qpos
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qpos_idx = self.model.jnt_qposadr[balljoint_id]
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self.data.qpos[qpos_idx:qpos_idx+4] = [4, 5, 6, 7]
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np.testing.assert_array_equal(qpos_from_indexer, [4, 5, 6, 7])
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self.data.joint('myball').qpos = [9, 8, 7, 6]
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np.testing.assert_array_equal(self.data.qpos[qpos_idx:qpos_idx+4],
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[9, 8, 7, 6])
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def test_named_indexing_ragged2d_cdof(self):
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freejoint_id = mujoco.mj_name2id(
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self.model, mujoco.mjtObj.mjOBJ_JOINT, 'myfree')
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self.assertIs(self.data.joint('myfree'), self.data.joint(freejoint_id))
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self.assertIs(self.data.joint('myfree').cdof,
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self.data.joint(freejoint_id).cdof)
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self.assertEqual(self.data.joint('myfree').cdof.shape, (6, 6))
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# Test that the indexer is returning a view into the underlying struct.
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cdof_from_indexer = self.data.joint('myfree').cdof
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dof_idx = self.model.jnt_dofadr[freejoint_id]
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self.data.cdof[dof_idx:dof_idx+6, :] = np.reshape(range(36), (6, 6))
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np.testing.assert_array_equal(cdof_from_indexer,
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np.reshape(range(36), (6, 6)))
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self.data.joint('myfree').cdof = 42
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np.testing.assert_array_equal(self.data.cdof[dof_idx:dof_idx+6], [[42]*6]*6)
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def test_named_indexing_repr_in_data(self):
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expected_repr = '''<_MjDataGeomViews
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id: 1
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name: 'mybox'
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xmat: array([0., 0., 0., 0., 0., 0., 0., 0., 0.])
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xpos: array([0., 0., 0.])
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>'''
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self.assertEqual(expected_repr, repr(self.data.geom('mybox')))
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def test_named_indexing_body_repr_in_data(self):
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view_repr = repr(self.data.body('mybox'))
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self.assertStartsWith(view_repr, '<_MjDataBodyViews')
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self.assertIn('xpos: array([0., 0., 0.])', view_repr)
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self.assertEndsWith(view_repr, '>')
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def test_named_indexing_repr_in_model(self):
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view_repr = repr(self.model.geom('mybox'))
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self.assertStartsWith(view_repr, '<_MjModelGeomViews')
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self.assertIn('size: array([0.1, 0.1, 0.1])', view_repr)
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self.assertEndsWith(view_repr, '>')
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def test_addresses_differ_between_structs(self):
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model2 = mujoco.MjModel.from_xml_string(TEST_XML)
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data2 = mujoco.MjData(model2)
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self.assertGreater(self.model._address, 0)
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self.assertGreater(self.data._address, 0)
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self.assertGreater(model2._address, 0)
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self.assertGreater(data2._address, 0)
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self.assertLen({self.model._address, self.data._address,
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model2._address, data2._address}, 4)
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def test_mjmodel_can_read_and_write_opt(self):
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self.assertEqual(self.model.opt.timestep, 0.002)
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np.testing.assert_array_equal(self.model.opt.gravity, [0, 0, -9.81])
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opt = self.model.opt
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self.model.opt.timestep = 0.001
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self.assertEqual(opt.timestep, 0.001)
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gravity = opt.gravity
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self.model.opt.gravity[1] = 0.1
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np.testing.assert_array_equal(gravity, [0, 0.1, -9.81])
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self.model.opt.gravity = 0.2
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np.testing.assert_array_equal(gravity, [0.2, 0.2, 0.2])
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def test_mjmodel_can_read_and_write_stat(self):
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self.assertNotEqual(self.model.stat.meanmass, 0)
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stat = self.model.stat
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self.model.stat.meanmass = 1.2
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self.assertEqual(stat.meanmass, 1.2)
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def test_mjmodel_can_read_and_write_vis(self):
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self.assertEqual(self.model.vis.quality.shadowsize, 51)
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self.model.vis.quality.shadowsize = 100
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self.assertEqual(self.model.vis.quality.shadowsize, 100)
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def test_mjmodel_can_access_names_directly(self):
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# mjModel offers direct access to names array, to allow usecases other than
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# id2name
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model_name = str(self.model.names[0:self.model.names.find(b'\0')], 'utf-8')
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self.assertEqual(model_name, 'test')
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start_index = self.model.name_geomadr[0]
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end_index = self.model.names.find(b'\0', start_index)
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geom_name = str(self.model.names[start_index:end_index], 'utf-8')
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self.assertEqual(geom_name, 'myplane')
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def test_mjmodel_names_doesnt_copy(self):
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names = self.model.names
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self.assertIs(names, self.model.names)
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def test_vis_global_exposed_as_global_(self):
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self.assertEqual(self.model.vis.global_.fovy, 50)
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self.model.vis.global_.fovy = 100
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self.assertEqual(self.model.vis.global_.fovy, 100)
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def test_mjoption_can_make_default(self):
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opt = mujoco.MjOption()
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self.assertEqual(opt.timestep, 0.002)
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np.testing.assert_array_equal(opt.gravity, [0, 0, -9.81])
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def test_mjoption_can_copy(self):
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opt1 = mujoco.MjOption()
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opt1.timestep = 0.001
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opt1.gravity = 2
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opt2 = copy.copy(opt1)
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self.assertEqual(opt2.timestep, 0.001)
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np.testing.assert_array_equal(opt2.gravity, [2, 2, 2])
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# Make sure opt2 is actually a copy.
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opt1.timestep = 0.005
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opt1.gravity = 5
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self.assertEqual(opt2.timestep, 0.001)
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np.testing.assert_array_equal(opt2.gravity, [2, 2, 2])
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def test_mjmodel_can_copy(self):
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model_copy = copy.copy(self.model)
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self.assertEqual(
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mujoco.mj_id2name(model_copy, mujoco.mjtObj.mjOBJ_JOINT, 0),
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'myfree')
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self.assertEqual(
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mujoco.mj_id2name(model_copy, mujoco.mjtObj.mjOBJ_GEOM, 0),
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'myplane')
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self.assertEqual(
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mujoco.mj_id2name(model_copy, mujoco.mjtObj.mjOBJ_GEOM, 1),
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'mybox')
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# Make sure it's a copy.
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self.model.geom_size[1] = 0.5
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np.testing.assert_array_equal(self.model.geom_size[1], [0.5, 0.5, 0.5])
|
|
np.testing.assert_array_equal(model_copy.geom_size[1], [0.1, 0.1, 0.1])
|
|
|
|
def test_assets_array_filename_too_long(self):
|
|
# Longest allowed filename (excluding null byte)
|
|
limit = mujoco.mjMAXVFSNAME - 1
|
|
contents = b'<mujoco/>'
|
|
valid_filename = 'a' * limit
|
|
mujoco.MjModel.from_xml_path(valid_filename, {valid_filename: contents})
|
|
invalid_filename = 'a' * (limit + 1)
|
|
expected_message = (
|
|
f'Filename length 1000 exceeds 999 character limit: {invalid_filename}')
|
|
with self.assertRaisesWithLiteralMatch(ValueError, expected_message):
|
|
mujoco.MjModel.from_xml_path(invalid_filename,
|
|
{invalid_filename: contents})
|
|
|
|
def test_mjdata_can_copy(self):
|
|
self.data.qpos = [0, 0, 0.1*np.sqrt(2) - 0.001,
|
|
np.cos(np.pi/8), np.sin(np.pi/8), 0, 0, 0,
|
|
1, 0, 0, 0]
|
|
mujoco.mj_forward(self.model, self.data)
|
|
|
|
data_copy = copy.copy(self.data)
|
|
self.assertEqual(data_copy.ncon, 2)
|
|
|
|
# Make sure it's a copy.
|
|
mujoco.mj_resetData(self.model, self.data)
|
|
mujoco.mj_forward(self.model, self.data)
|
|
mujoco.mj_forward(self.model, data_copy)
|
|
self.assertEqual(self.data.ncon, 4)
|
|
self.assertEqual(data_copy.ncon, 2)
|
|
|
|
mujoco.mj_resetData(self.model, data_copy)
|
|
mujoco.mj_forward(self.model, data_copy)
|
|
self.assertEqual(data_copy.ncon, 4)
|
|
|
|
def test_mjdata_can_read_warning_array(self):
|
|
warnings = self.data.warning
|
|
self.assertLen(warnings, mujoco.mjtWarning.mjNWARNING)
|
|
self.data.qpos[0] = float('NaN')
|
|
mujoco.mj_checkPos(self.model, self.data)
|
|
self.assertEqual(warnings[mujoco.mjtWarning.mjWARN_BADQPOS].number, 1)
|
|
|
|
def test_mjcontact_can_copy(self):
|
|
mujoco.mj_forward(self.model, self.data)
|
|
|
|
contact_copy = []
|
|
for i in range(4):
|
|
contact_copy.append(copy.copy(self.data.contact[i]))
|
|
# Sort contacts in anticlockwise order
|
|
contact_copy = sorted(
|
|
contact_copy, key=lambda x: np.arctan2(x.pos[1], x.pos[0]))
|
|
np.testing.assert_allclose(contact_copy[0].pos[:2], [-0.1, -0.1])
|
|
np.testing.assert_allclose(contact_copy[1].pos[:2], [0.1, -0.1])
|
|
np.testing.assert_allclose(contact_copy[2].pos[:2], [0.1, 0.1])
|
|
np.testing.assert_allclose(contact_copy[3].pos[:2], [-0.1, 0.1])
|
|
|
|
# Make sure they're actually copies.
|
|
for i in range(4):
|
|
self.data.contact[i].pos[:2] = 55
|
|
np.testing.assert_allclose(self.data.contact[0].pos[:2], [55, 55])
|
|
np.testing.assert_allclose(self.data.contact[1].pos[:2], [55, 55])
|
|
np.testing.assert_allclose(self.data.contact[2].pos[:2], [55, 55])
|
|
np.testing.assert_allclose(self.data.contact[3].pos[:2], [55, 55])
|
|
np.testing.assert_allclose(contact_copy[0].pos[:2], [-0.1, -0.1])
|
|
np.testing.assert_allclose(contact_copy[1].pos[:2], [0.1, -0.1])
|
|
np.testing.assert_allclose(contact_copy[2].pos[:2], [0.1, 0.1])
|
|
np.testing.assert_allclose(contact_copy[3].pos[:2], [-0.1, 0.1])
|
|
|
|
def test_mj_step(self):
|
|
displacement = 0.25
|
|
self.data.qpos[2] += displacement
|
|
mujoco.mj_forward(self.model, self.data)
|
|
|
|
gravity = -self.model.opt.gravity[2]
|
|
expected_contact_time = np.sqrt(2 * displacement / gravity)
|
|
|
|
# Grab a reference to the contacts upfront so that we know that they're
|
|
# a view into mjData rather than a copy.
|
|
contact = self.data.contact
|
|
|
|
self.model.opt.timestep = 2**-9 # 0.001953125; allows exact comparisons
|
|
self.assertEqual(self.data.time, 0)
|
|
while self.data.time < expected_contact_time:
|
|
self.assertEqual(self.data.ncon, 0)
|
|
self.assertEmpty(self.data.efc_type)
|
|
self.assertTrue(self.data.efc_type.flags['OWNDATA'])
|
|
prev_time = self.data.time
|
|
mujoco.mj_step(self.model, self.data)
|
|
self.assertEqual(self.data.time, prev_time + self.model.opt.timestep)
|
|
|
|
mujoco.mj_forward(self.model, self.data)
|
|
self.assertEqual(self.data.ncon, 4)
|
|
self.assertLen(self.data.efc_type, 16)
|
|
self.assertFalse(self.data.efc_type.flags['OWNDATA'])
|
|
|
|
# Sort contacts in anticlockwise order
|
|
sorted_contact = sorted(
|
|
contact, key=lambda x: np.arctan2(x.pos[1], x.pos[0]))
|
|
np.testing.assert_allclose(sorted_contact[0].pos[:2], [-0.1, -0.1])
|
|
np.testing.assert_allclose(sorted_contact[1].pos[:2], [0.1, -0.1])
|
|
np.testing.assert_allclose(sorted_contact[2].pos[:2], [0.1, 0.1])
|
|
np.testing.assert_allclose(sorted_contact[3].pos[:2], [-0.1, 0.1])
|
|
|
|
mujoco.mj_resetData(self.model, self.data)
|
|
self.assertEqual(self.data.ncon, 0)
|
|
self.assertEmpty(self.data.efc_type)
|
|
self.assertTrue(self.data.efc_type.flags['OWNDATA'])
|
|
|
|
def test_mj_step_multiple(self):
|
|
self.model.opt.timestep = 2**-9 # 0.001953125; allows exact comparisons
|
|
self.assertEqual(self.data.time, 0)
|
|
for _ in range(10):
|
|
prev_time = self.data.time
|
|
mujoco.mj_step(self.model, self.data, nstep=7)
|
|
self.assertEqual(self.data.time, prev_time + 7 * self.model.opt.timestep)
|
|
self.assertIn('Optionally, repeat nstep times.', mujoco.mj_step.__doc__)
|
|
|
|
def test_mj_contact_list(self):
|
|
self.assertEmpty(self.data.contact)
|
|
|
|
expected_ncon = 4
|
|
mujoco.mj_forward(self.model, self.data)
|
|
self.assertLen(self.data.contact, expected_ncon)
|
|
|
|
expected_pos = []
|
|
for contact in self.data.contact:
|
|
expected_pos.append(np.random.uniform(size=3))
|
|
contact.pos = expected_pos[-1]
|
|
self.assertLen(expected_pos, expected_ncon)
|
|
np.testing.assert_array_equal(self.data.contact.pos, expected_pos)
|
|
|
|
expected_friction = []
|
|
for contact in self.data.contact:
|
|
expected_friction.append(np.random.uniform(size=5))
|
|
contact.friction = expected_friction[-1]
|
|
self.assertLen(expected_friction, expected_ncon)
|
|
np.testing.assert_array_equal(self.data.contact.friction, expected_friction)
|
|
|
|
expected_H = [] # pylint: disable=invalid-name
|
|
for contact in self.data.contact:
|
|
expected_H.append(np.random.uniform(size=36))
|
|
contact.H = expected_H[-1]
|
|
self.assertLen(expected_H, expected_ncon)
|
|
np.testing.assert_array_equal(self.data.contact.H, expected_H)
|
|
|
|
def test_realloc_con_efc(self):
|
|
self.assertEmpty(self.data.contact)
|
|
|
|
ncon = 9
|
|
nefc = 11
|
|
mujoco._functions._realloc_con_efc(self.data, ncon, nefc)
|
|
|
|
ncon = 13
|
|
nefc = 17
|
|
mujoco._functions._realloc_con_efc(self.data, ncon=ncon, nefc=nefc)
|
|
|
|
self.assertLen(self.data.contact, ncon)
|
|
self.assertEqual(self.data.efc_id.shape, (nefc,))
|
|
self.assertEqual(self.data.efc_KBIP.shape, (nefc, 4))
|
|
|
|
expected_error = 'insufficient arena memory available'
|
|
with self.assertRaisesWithLiteralMatch(mujoco.FatalError, expected_error):
|
|
mujoco._functions._realloc_con_efc(self.data, 100000000, 100000000)
|
|
self.assertEmpty(self.data.contact)
|
|
self.assertEmpty(self.data.efc_id)
|
|
|
|
def test_mj_struct_list_equality(self):
|
|
model2 = mujoco.MjModel.from_xml_string(TEST_XML)
|
|
data2 = mujoco.MjData(model2)
|
|
|
|
mujoco.mj_forward(self.model, self.data)
|
|
self.assertEqual(self.data.ncon, 4)
|
|
mujoco.mj_forward(model2, data2)
|
|
self.assertEqual(data2.ncon, 4)
|
|
self.assertEqual(data2.contact, self.data.contact)
|
|
|
|
self.data.qpos[3:7] = [np.cos(np.pi/8), np.sin(np.pi/8), 0, 0]
|
|
self.data.qpos[2] *= (np.sqrt(2) - 1) * 0.1 - 1e-6
|
|
mujoco.mj_forward(self.model, self.data)
|
|
self.assertEqual(self.data.ncon, 2)
|
|
self.assertNotEqual(data2.contact, self.data.contact)
|
|
|
|
# Check that we can compare slices of different lengths
|
|
self.assertNotEqual(data2.contact, self.data.contact)
|
|
|
|
# Check that comparing things of different types do not raise an error
|
|
self.assertNotEqual(self.data.contact, self.data.warning)
|
|
self.assertNotEqual(self.data.contact, 5)
|
|
|
|
@parameterized.named_parameters([
|
|
('MjOption', mujoco.MjOption, 'tolerance'),
|
|
('MjWarningStat', mujoco.MjWarningStat, 'number'),
|
|
('MjTimerStat', mujoco.MjTimerStat, 'number'),
|
|
('MjSolverStat', mujoco.MjSolverStat, 'neval'),
|
|
('MjContact', mujoco.MjContact, 'dist'),
|
|
('MjStatistic', mujoco.MjStatistic, 'extent'),
|
|
('MjLROpt', mujoco.MjLROpt, 'maxforce'),
|
|
('MjvPerturb', mujoco.MjvPerturb, 'select'),
|
|
('MjvCamera', mujoco.MjvCamera, 'fixedcamid'),
|
|
])
|
|
def test_mj_struct_equality(self, cls, attr):
|
|
struct = cls()
|
|
struct2 = cls()
|
|
setattr(struct, attr, 1)
|
|
self.assertNotEqual(struct, struct2)
|
|
setattr(struct2, attr, 1)
|
|
self.assertEqual(struct, struct2)
|
|
|
|
self.assertNotEqual(struct, 3)
|
|
self.assertNotEqual(struct, None)
|
|
|
|
# mutable structs shouldn't declare __hash__
|
|
with self.assertRaises(TypeError):
|
|
hash(struct)
|
|
|
|
def test_mj_struct_equality_array(self):
|
|
contact1 = mujoco.MjContact()
|
|
contact2 = mujoco.MjContact()
|
|
contact1.H[3] = 1
|
|
self.assertNotEqual(contact1, contact2)
|
|
contact2.H[3] = 1
|
|
self.assertEqual(contact1, contact2)
|
|
|
|
@parameterized.named_parameters([
|
|
('MjOption', mujoco.MjOption, 'tolerance'),
|
|
('MjWarningStat', mujoco.MjWarningStat, 'number'),
|
|
('MjTimerStat', mujoco.MjTimerStat, 'number'),
|
|
('MjSolverStat', mujoco.MjSolverStat, 'neval'),
|
|
('MjContact', mujoco.MjContact, 'dist'),
|
|
('MjStatistic', mujoco.MjStatistic, 'extent'),
|
|
('MjLROpt', mujoco.MjLROpt, 'maxforce'),
|
|
('MjvPerturb', mujoco.MjvPerturb, 'select'),
|
|
('MjvCamera', mujoco.MjvCamera, 'fixedcamid'),
|
|
])
|
|
def test_mj_struct_repr(self, cls, attr):
|
|
struct = cls()
|
|
setattr(struct, attr, 1)
|
|
representation = repr(struct)
|
|
self.assertStartsWith(representation, f'<{cls.__name__}')
|
|
self.assertIn(f'{attr}: 1', representation)
|
|
self.assertEqual(str(struct), repr(struct))
|
|
|
|
def test_mj_struct_repr_for_subclass(self):
|
|
class MjWarningStatSubclass(mujoco.MjWarningStat):
|
|
# ptr attribute could cause an infinite recursion, if the repr
|
|
# implementation simply looked at all attributes.
|
|
|
|
@property
|
|
def ptr(self):
|
|
return self
|
|
|
|
# repr should include name of subclass.
|
|
expected_repr = """<MjWarningStatSubclass
|
|
lastinfo: 0
|
|
number: 0
|
|
>"""
|
|
|
|
self.assertEqual(repr(MjWarningStatSubclass()), expected_repr)
|
|
|
|
def test_mju_rotVecQuat(self): # pylint: disable=invalid-name
|
|
vec = [1, 0, 0]
|
|
quat = [np.cos(np.pi/8), 0, 0, np.sin(np.pi/8)]
|
|
expected = np.array([1, 1, 0]) / np.sqrt(2)
|
|
|
|
# Check that the output argument works, and that the binding returns None.
|
|
res = np.empty(3, np.float64)
|
|
self.assertIsNone(mujoco.mju_rotVecQuat(res, vec, quat))
|
|
np.testing.assert_allclose(res, expected)
|
|
|
|
# Check that the function can be called via keyword arguments.
|
|
mujoco.mju_rotVecQuat(vec=vec, quat=quat, res=res)
|
|
np.testing.assert_allclose(res, expected)
|
|
|
|
# Check that the res argument must have the right size.
|
|
with self.assertRaises(TypeError):
|
|
mujoco.mju_rotVecQuat(np.zeros(4, np.float64), vec, quat)
|
|
|
|
# Check that the vec argument must have the right size.
|
|
with self.assertRaises(TypeError):
|
|
mujoco.mju_rotVecQuat(res, [1, 2, 3, 4], quat)
|
|
|
|
# Check that the quat argument must have the right size.
|
|
with self.assertRaises(TypeError):
|
|
mujoco.mju_rotVecQuat(res, vec, [1, 2, 3])
|
|
|
|
# The following check needs to be done with a fully initialized array,
|
|
# since pybind11 prints out the array's contents when generating TypeErrors.
|
|
# Using `np.empty` here results in msan errors.
|
|
|
|
# Check that the output argument must have the correct dtype.
|
|
with self.assertRaises(TypeError):
|
|
mujoco.mju_rotVecQuat(vec, quat, res=np.zeros(3, int))
|
|
|
|
def test_getsetstate(self): # pylint: disable=invalid-name
|
|
mujoco.mj_step(self.model, self.data)
|
|
|
|
# Test for invalid state spec
|
|
invalid_spec = 2**mujoco.mjtState.mjNSTATE.value
|
|
expected_message = (
|
|
f'mj_stateSize: invalid state spec {invalid_spec} >= 2^mjNSTATE'
|
|
)
|
|
with self.assertRaisesWithLiteralMatch(mujoco.FatalError, expected_message):
|
|
mujoco.mj_stateSize(self.model, invalid_spec)
|
|
|
|
spec = mujoco.mjtState.mjSTATE_INTEGRATION
|
|
size = mujoco.mj_stateSize(self.model, spec)
|
|
|
|
state_bad_size = np.empty(size + 1, np.float64)
|
|
expected_message = ('state size should equal mj_stateSize(m, spec)')
|
|
with self.assertRaisesWithLiteralMatch(TypeError, expected_message):
|
|
mujoco.mj_getState(self.model, self.data, state_bad_size, spec)
|
|
|
|
# Get initial state.
|
|
state0 = np.empty(size, np.float64)
|
|
mujoco.mj_getState(self.model, self.data, state0, spec)
|
|
|
|
# Step, get next state.
|
|
mujoco.mj_step(self.model, self.data)
|
|
state1a = np.empty(size, np.float64)
|
|
mujoco.mj_getState(self.model, self.data, state1a, spec)
|
|
|
|
# Reset to initial state, step again, get state again.
|
|
mujoco.mj_setState(self.model, self.data, state0, spec)
|
|
mujoco.mj_step(self.model, self.data)
|
|
state1b = np.empty(size, np.float64)
|
|
mujoco.mj_getState(self.model, self.data, state1b, spec)
|
|
|
|
# Expect next states to be equal.
|
|
np.testing.assert_array_equal(state1a, state1b)
|
|
|
|
def test_mj_jacSite(self): # pylint: disable=invalid-name
|
|
mujoco.mj_forward(self.model, self.data)
|
|
site_id = mujoco.mj_name2id(self.model, mujoco.mjtObj.mjOBJ_SITE, 'mysite')
|
|
|
|
# Call mj_jacSite with only jacp.
|
|
jacp = np.empty((3, 10), np.float64)
|
|
mujoco.mj_jacSite(self.model, self.data, jacp, None, site_id)
|
|
|
|
expected_jacp = np.array(
|
|
[[0, 0, 0, 0, 0, 0, -1, 0, 0, 0],
|
|
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
|
|
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0]])
|
|
np.testing.assert_array_equal(jacp, expected_jacp)
|
|
|
|
# Call mj_jacSite with only jacr.
|
|
jacr = np.empty((3, 10), np.float64)
|
|
mujoco.mj_jacSite(self.model, self.data, None, jacr, site_id)
|
|
|
|
expected_jacr = np.array(
|
|
[[0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
|
|
[0, 0, 0, 0, 0, 0, 1, 0, 0, 0],
|
|
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0]])
|
|
np.testing.assert_array_equal(jacr, expected_jacr)
|
|
|
|
# Call mj_jacSite with both jacp and jacr.
|
|
jacp[:] = 0
|
|
jacr[:] = 0
|
|
mujoco.mj_jacSite(self.model, self.data, jacp, jacr, site_id)
|
|
np.testing.assert_array_equal(jacp, expected_jacp)
|
|
np.testing.assert_array_equal(jacr, expected_jacr)
|
|
|
|
# Check that the jacp argument must have the right size.
|
|
with self.assertRaises(TypeError):
|
|
mujoco.mj_jacSite(
|
|
self.model, self.data, np.empty((3, 6), jacp.dtype), None, site_id)
|
|
|
|
# Check that the jacr argument must have the right size.
|
|
with self.assertRaises(TypeError):
|
|
mujoco.mj_jacSite(
|
|
self.model, self.data, None, np.empty((4, 7), jacr.dtype), site_id)
|
|
|
|
# The following two checks need to be done with fully initialized arrays,
|
|
# since pybind11 prints out the array's contents when generating TypeErrors.
|
|
# Using `np.empty` here results in msan errors.
|
|
|
|
# Check that the jacp argument must have the right dtype.
|
|
with self.assertRaises(TypeError):
|
|
mujoco.mj_jacSite(
|
|
self.model, self.data, np.zeros(jacp.shape, int), None, site_id)
|
|
|
|
# Check that the jacr argument must have the right dtype.
|
|
with self.assertRaises(TypeError):
|
|
mujoco.mj_jacSite(
|
|
self.model, self.data, None, np.zeros(jacr.shape, int), site_id)
|
|
|
|
def test_docstrings(self): # pylint: disable=invalid-name
|
|
self.assertEqual(
|
|
mujoco.mj_versionString.__doc__,
|
|
"""mj_versionString() -> str
|
|
|
|
Return the current version of MuJoCo as a null-terminated string.
|
|
""")
|
|
self.assertEqual(
|
|
mujoco.mj_Euler.__doc__,
|
|
"""mj_Euler(m: mujoco._structs.MjModel, d: mujoco._structs.MjData) -> None
|
|
|
|
Euler integrator, semi-implicit in velocity.
|
|
""")
|
|
|
|
def test_int_constant(self):
|
|
self.assertEqual(mujoco.mjMAXVFSNAME, 1000)
|
|
|
|
def test_float_constant(self):
|
|
self.assertEqual(mujoco.mjMAXVAL, 1e10)
|
|
self.assertEqual(mujoco.mjMINVAL, 1e-15)
|
|
|
|
def test_string_constants(self):
|
|
self.assertLen(mujoco.mjDISABLESTRING, mujoco.mjtDisableBit.mjNDISABLE)
|
|
self.assertLen(mujoco.mjENABLESTRING, mujoco.mjtEnableBit.mjNENABLE)
|
|
self.assertLen(mujoco.mjTIMERSTRING, mujoco.mjtTimer.mjNTIMER)
|
|
self.assertLen(mujoco.mjLABELSTRING, mujoco.mjtLabel.mjNLABEL)
|
|
self.assertLen(mujoco.mjFRAMESTRING, mujoco.mjtFrame.mjNFRAME)
|
|
self.assertLen(mujoco.mjVISSTRING, mujoco.mjtVisFlag.mjNVISFLAG)
|
|
self.assertLen(mujoco.mjRNDSTRING, mujoco.mjtRndFlag.mjNRNDFLAG)
|
|
self.assertEqual(mujoco.mjDISABLESTRING[11], 'Refsafe')
|
|
self.assertEqual(mujoco.mjVISSTRING[mujoco.mjtVisFlag.mjVIS_INERTIA],
|
|
('Inertia', '0', 'I'))
|
|
|
|
def test_enum_values(self):
|
|
self.assertEqual(mujoco.mjtJoint.mjJNT_FREE, 0)
|
|
self.assertEqual(mujoco.mjtJoint.mjJNT_BALL, 1)
|
|
self.assertEqual(mujoco.mjtJoint.mjJNT_SLIDE, 2)
|
|
self.assertEqual(mujoco.mjtJoint.mjJNT_HINGE, 3)
|
|
self.assertEqual(mujoco.mjtEnableBit.mjENBL_OVERRIDE, 1<<0)
|
|
self.assertEqual(mujoco.mjtEnableBit.mjENBL_ENERGY, 1<<1)
|
|
self.assertEqual(mujoco.mjtEnableBit.mjENBL_FWDINV, 1<<2)
|
|
self.assertEqual(mujoco.mjtEnableBit.mjENBL_SENSORNOISE, 1<<4)
|
|
self.assertEqual(mujoco.mjtEnableBit.mjNENABLE, 7)
|
|
self.assertEqual(mujoco.mjtGeom.mjGEOM_PLANE, 0)
|
|
self.assertEqual(mujoco.mjtGeom.mjGEOM_HFIELD, 1)
|
|
self.assertEqual(mujoco.mjtGeom.mjGEOM_SPHERE, 2)
|
|
self.assertEqual(mujoco.mjtGeom.mjGEOM_ARROW, 100)
|
|
self.assertEqual(mujoco.mjtGeom.mjGEOM_ARROW1, 101)
|
|
self.assertEqual(mujoco.mjtGeom.mjGEOM_ARROW2, 102)
|
|
self.assertEqual(mujoco.mjtGeom.mjGEOM_TRIANGLE, 108)
|
|
self.assertEqual(mujoco.mjtGeom.mjGEOM_NONE, 1001)
|
|
|
|
def test_enum_from_int(self):
|
|
self.assertEqual(mujoco.mjtJoint.mjJNT_FREE, mujoco.mjtJoint(0))
|
|
self.assertEqual(mujoco.mjtGeom.mjGEOM_ARROW, mujoco.mjtGeom(value=100))
|
|
with self.assertRaises(ValueError):
|
|
mujoco.mjtJoint(1000)
|
|
with self.assertRaises(ValueError):
|
|
mujoco.mjtJoint(-1)
|
|
|
|
def test_enum_as_index(self):
|
|
x = ['a', 'b', 'c', 'd', 'e', 'f', 'g', 'h', 'i', 'j', 'k']
|
|
self.assertEqual(x[mujoco.mjtFrame.mjFRAME_WORLD], 'h')
|
|
self.assertEqual(
|
|
x[mujoco.mjtFrame.mjFRAME_GEOM:mujoco.mjtFrame.mjFRAME_CAMERA],
|
|
['c', 'd'])
|
|
|
|
def test_enum_ops(self):
|
|
# Note: when modifying this test, make sure the enum value is an odd number
|
|
# so that the division tests are correctly exercised.
|
|
self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD, 7)
|
|
self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD, 7.0)
|
|
self.assertEqual(7, mujoco.mjtFrame.mjFRAME_WORLD)
|
|
self.assertEqual(7.0, mujoco.mjtFrame.mjFRAME_WORLD)
|
|
self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD,
|
|
mujoco.mjtFrame.mjFRAME_WORLD)
|
|
self.assertNotEqual(mujoco.mjtFrame.mjFRAME_WORLD,
|
|
mujoco.mjtFrame.mjFRAME_NONE)
|
|
|
|
self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD, -7)
|
|
self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD, int)
|
|
|
|
self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD + 1, 8)
|
|
self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD + 1, int)
|
|
self.assertEqual(2 + mujoco.mjtFrame.mjFRAME_WORLD, 9)
|
|
self.assertIsInstance(2 + mujoco.mjtFrame.mjFRAME_WORLD, int)
|
|
self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD + 1.75, 8.75)
|
|
self.assertEqual(2.75 + mujoco.mjtFrame.mjFRAME_WORLD, 9.75)
|
|
|
|
self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD - 2, 5)
|
|
self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD - 2, int)
|
|
self.assertEqual(8 - mujoco.mjtFrame.mjFRAME_WORLD, 1)
|
|
self.assertIsInstance(8 - mujoco.mjtFrame.mjFRAME_WORLD, int)
|
|
self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD - 2.25, 4.75)
|
|
self.assertEqual(8.25 - mujoco.mjtFrame.mjFRAME_WORLD, 1.25)
|
|
|
|
self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD * 3, 21)
|
|
self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD * 3, int)
|
|
self.assertEqual(3 * mujoco.mjtFrame.mjFRAME_WORLD, 21)
|
|
self.assertIsInstance(3 * mujoco.mjtFrame.mjFRAME_WORLD, int)
|
|
self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD * 3.5, 24.5)
|
|
self.assertEqual(3.5 * mujoco.mjtFrame.mjFRAME_WORLD, 24.5)
|
|
|
|
self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD / 2, 3.5)
|
|
self.assertEqual(17.5 / mujoco.mjtFrame.mjFRAME_WORLD, 2.5)
|
|
self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD // 2, 3)
|
|
self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD // 2, int)
|
|
self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD // 2, -4)
|
|
self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD // 2, int)
|
|
self.assertEqual(20 // mujoco.mjtFrame.mjFRAME_WORLD, 2)
|
|
self.assertIsInstance(20 // mujoco.mjtFrame.mjFRAME_WORLD, int)
|
|
self.assertEqual(-20 // mujoco.mjtFrame.mjFRAME_WORLD, -3)
|
|
self.assertIsInstance(-20 // mujoco.mjtFrame.mjFRAME_WORLD, int)
|
|
self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD // 2.0, 3)
|
|
self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD // 2.0, float)
|
|
self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD // 2.0, -4)
|
|
self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD // 2.0, float)
|
|
self.assertEqual(20.0 // mujoco.mjtFrame.mjFRAME_WORLD, 2)
|
|
self.assertIsInstance(20.0 // mujoco.mjtFrame.mjFRAME_WORLD, float)
|
|
self.assertEqual(-20 // mujoco.mjtFrame.mjFRAME_WORLD, -3)
|
|
self.assertIsInstance(-20.0 // mujoco.mjtFrame.mjFRAME_WORLD, float)
|
|
|
|
self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD % 4, 3)
|
|
self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD % 4, int)
|
|
self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD % -4, -3)
|
|
self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD % -4, int)
|
|
self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD % 4, 1)
|
|
self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD % 4, int)
|
|
self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD % -4, -1)
|
|
self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD % -4, int)
|
|
self.assertEqual(9 % mujoco.mjtFrame.mjFRAME_WORLD, 2)
|
|
self.assertIsInstance(9 % mujoco.mjtFrame.mjFRAME_WORLD, int)
|
|
self.assertEqual(-9 % -mujoco.mjtFrame.mjFRAME_WORLD, -2)
|
|
self.assertIsInstance(-9 % -mujoco.mjtFrame.mjFRAME_WORLD, int)
|
|
self.assertEqual(-9 % mujoco.mjtFrame.mjFRAME_WORLD, 5)
|
|
self.assertIsInstance(-9 % mujoco.mjtFrame.mjFRAME_WORLD, int)
|
|
self.assertEqual(9 % -mujoco.mjtFrame.mjFRAME_WORLD, -5)
|
|
self.assertIsInstance(9 % -mujoco.mjtFrame.mjFRAME_WORLD, int)
|
|
|
|
with self.assertRaises(ZeroDivisionError):
|
|
_ = mujoco.mjtFrame.mjFRAME_WORLD / 0
|
|
with self.assertRaises(ZeroDivisionError):
|
|
_ = 1 / mujoco.mjtFrame.mjFRAME_NONE
|
|
with self.assertRaises(ZeroDivisionError):
|
|
_ = mujoco.mjtFrame.mjFRAME_WORLD // 0
|
|
with self.assertRaises(ZeroDivisionError):
|
|
_ = 1 // mujoco.mjtFrame.mjFRAME_NONE
|
|
with self.assertRaises(ZeroDivisionError):
|
|
_ = mujoco.mjtFrame.mjFRAME_WORLD % 0
|
|
with self.assertRaises(ZeroDivisionError):
|
|
_ = 1 % mujoco.mjtFrame.mjFRAME_NONE
|
|
|
|
self.assertEqual(
|
|
mujoco.mjtDisableBit.mjDSBL_GRAVITY | mujoco.mjtDisableBit.mjDSBL_LIMIT,
|
|
72)
|
|
self.assertEqual(mujoco.mjtDisableBit.mjDSBL_PASSIVE | 33, 33)
|
|
self.assertEqual(mujoco.mjtDisableBit.mjDSBL_PASSIVE & 33, 32)
|
|
self.assertEqual(mujoco.mjtDisableBit.mjDSBL_PASSIVE ^ 33, 1)
|
|
self.assertEqual(33 | mujoco.mjtDisableBit.mjDSBL_PASSIVE, 33)
|
|
self.assertEqual(33 & mujoco.mjtDisableBit.mjDSBL_PASSIVE, 32)
|
|
self.assertEqual(33 ^ mujoco.mjtDisableBit.mjDSBL_PASSIVE, 1)
|
|
self.assertEqual(mujoco.mjtDisableBit.mjDSBL_CLAMPCTRL << 1,
|
|
mujoco.mjtDisableBit.mjDSBL_WARMSTART)
|
|
self.assertEqual(mujoco.mjtDisableBit.mjDSBL_CLAMPCTRL >> 3,
|
|
mujoco.mjtDisableBit.mjDSBL_CONTACT)
|
|
|
|
def test_can_raise_error(self):
|
|
self.data.pstack = self.data.narena
|
|
with self.assertRaisesRegex(mujoco.FatalError,
|
|
r'\Amj_stackAlloc: insufficient memory:'):
|
|
mujoco.mj_forward(self.model, self.data)
|
|
|
|
def test_mjcb_time(self):
|
|
|
|
class CallCounter:
|
|
|
|
def __init__(self):
|
|
self.count = 0
|
|
|
|
def __call__(self):
|
|
self.count += 1
|
|
return self.count - 1
|
|
|
|
call_counter = CallCounter()
|
|
with temporary_callback(mujoco.set_mjcb_time, call_counter):
|
|
self.assertIs(mujoco.get_mjcb_time(), call_counter)
|
|
|
|
# Check that the callback setter and getter aren't callin g the function.
|
|
self.assertEqual(call_counter.count, 0)
|
|
|
|
mujoco.mj_forward(self.model, self.data)
|
|
self.assertGreater(call_counter.count, 0)
|
|
|
|
self.assertIsNone(mujoco.get_mjcb_time())
|
|
|
|
def test_mjcb_time_exception(self):
|
|
|
|
class TestError(RuntimeError):
|
|
pass
|
|
|
|
def raises_exception():
|
|
raise TestError('string', (1, 2, 3), {'a': 1, 'b': 2})
|
|
|
|
with temporary_callback(mujoco.set_mjcb_time, raises_exception):
|
|
with self.assertRaises(TestError) as e:
|
|
mujoco.mj_forward(self.model, self.data)
|
|
self.assertEqual(
|
|
e.exception.args, ('string', (1, 2, 3), {'a': 1, 'b': 2}))
|
|
|
|
# Should not raise now that we've cleared the callback.
|
|
mujoco.mj_forward(self.model, self.data)
|
|
|
|
def test_mjcb_time_wrong_return_type(self):
|
|
with temporary_callback(mujoco.set_mjcb_time, lambda: 'string'):
|
|
with self.assertRaisesWithLiteralMatch(
|
|
TypeError, 'mjcb_time callback did not return a number'):
|
|
mujoco.mj_forward(self.model, self.data)
|
|
|
|
def test_mjcb_time_not_callable(self):
|
|
with self.assertRaisesWithLiteralMatch(
|
|
TypeError, 'callback is not an Optional[Callable]'):
|
|
mujoco.set_mjcb_time(1)
|
|
|
|
def test_mjcb_sensor(self):
|
|
|
|
class SensorCallback:
|
|
|
|
def __init__(self, test, expected_model, expected_data):
|
|
self.test = test
|
|
self.expected_model = expected_model
|
|
self.expected_data = expected_data
|
|
self.count = 0
|
|
|
|
def __call__(self, m, d, stage):
|
|
self.test.assertIs(m, self.expected_model)
|
|
self.test.assertIs(d, self.expected_data)
|
|
self.test.assertEqual(stage, mujoco.mjtStage.mjSTAGE_VEL)
|
|
d.sensordata[0] = 17
|
|
self.count += 1
|
|
|
|
model_with_sensor = mujoco.MjModel.from_xml_string(TEST_XML_SENSOR)
|
|
data_with_sensor = mujoco.MjData(model_with_sensor)
|
|
sensor_callback = SensorCallback(self, model_with_sensor, data_with_sensor)
|
|
self.assertEqual(sensor_callback.count, 0)
|
|
|
|
with temporary_callback(mujoco.set_mjcb_sensor, sensor_callback):
|
|
mujoco.mj_forward(model_with_sensor, data_with_sensor)
|
|
|
|
self.assertEqual(sensor_callback.count, 1)
|
|
self.assertEqual(data_with_sensor.sensordata[0], 17)
|
|
|
|
# This test is disabled on PyPy as it uses sys.getrefcount
|
|
# However PyPy is not officially supported by MuJoCo
|
|
@absltest.skipIf(sys.implementation.name == 'pypy',
|
|
reason='requires sys.getrefcount')
|
|
def test_mjcb_control_not_leak_memory(self):
|
|
model_instances = []
|
|
data_instances = []
|
|
for _ in range(10):
|
|
mujoco.set_mjcb_control(None)
|
|
model_instances.append(mujoco.MjModel.from_xml_string('<mujoco/>'))
|
|
data_instances.append(mujoco.MjData(model_instances[-1]))
|
|
mujoco.set_mjcb_control(lambda m, d: None)
|
|
mujoco.mj_step(model_instances[-1], data_instances[-1])
|
|
mujoco.set_mjcb_control(None)
|
|
while data_instances:
|
|
d = data_instances.pop()
|
|
self.assertEqual(sys.getrefcount(d), 2)
|
|
del d
|
|
while model_instances:
|
|
m = model_instances.pop()
|
|
self.assertEqual(sys.getrefcount(m), 2)
|
|
|
|
# This test is disabled on PyPy as it uses sys.getrefcount
|
|
# However PyPy is not officially supported by MuJoCo
|
|
@absltest.skipIf(sys.implementation.name == 'pypy',
|
|
reason='requires sys.getrefcount')
|
|
def test_mjdata_holds_ref_to_model(self):
|
|
data = mujoco.MjData(mujoco.MjModel.from_xml_string('<mujoco/>'))
|
|
model = data.model
|
|
# references: one in `data.model, one in `model`, one in the temporary ref
|
|
# passed to getrefcount.
|
|
self.assertEqual(sys.getrefcount(data.model), 3)
|
|
del data
|
|
self.assertEqual(sys.getrefcount(model), 2)
|
|
|
|
def test_can_initialize_mjv_structs(self):
|
|
self.assertIsInstance(mujoco.MjvScene(), mujoco.MjvScene)
|
|
self.assertIsInstance(mujoco.MjvCamera(), mujoco.MjvCamera)
|
|
self.assertIsInstance(mujoco.MjvGLCamera(), mujoco.MjvGLCamera)
|
|
self.assertIsInstance(mujoco.MjvGeom(), mujoco.MjvGeom)
|
|
self.assertIsInstance(mujoco.MjvLight(), mujoco.MjvLight)
|
|
self.assertIsInstance(mujoco.MjvOption(), mujoco.MjvOption)
|
|
self.assertIsInstance(mujoco.MjvScene(), mujoco.MjvScene)
|
|
self.assertIsInstance(mujoco.MjvScene(self.model, 100), mujoco.MjvScene)
|
|
self.assertIsInstance(mujoco.MjvFigure(), mujoco.MjvFigure)
|
|
|
|
def test_mjv_camera(self):
|
|
camera = mujoco.MjvCamera()
|
|
camera.type = mujoco.mjtCamera.mjCAMERA_TRACKING
|
|
# IDs should be integers
|
|
camera.fixedcamid = 2**31 - 1
|
|
self.assertEqual(camera.fixedcamid, 2**31 - 1)
|
|
with self.assertRaises(TypeError):
|
|
camera.fixedcamid = 0.5
|
|
|
|
def test_mjv_scene(self):
|
|
scene = mujoco.MjvScene(model=self.model, maxgeom=100)
|
|
# scene.geoms is a fixed-length tuple of length maxgeom.
|
|
self.assertEqual(scene.ngeom, 0)
|
|
self.assertEqual(scene.maxgeom, 100)
|
|
self.assertLen(scene.geoms, scene.maxgeom)
|
|
# When the scene is updated, geoms are added to the scene
|
|
# (ngeom is incremented)
|
|
mujoco.mj_forward(self.model, self.data)
|
|
mujoco.mjv_updateScene(self.model, self.data, mujoco.MjvOption(),
|
|
None, mujoco.MjvCamera(),
|
|
mujoco.mjtCatBit.mjCAT_ALL, scene)
|
|
self.assertGreater(scene.ngeom, 0)
|
|
|
|
def test_mjv_scene_without_model(self):
|
|
scene = mujoco.MjvScene()
|
|
self.assertEqual(scene.scale, 1.0)
|
|
self.assertEqual(scene.maxgeom, 0)
|
|
|
|
def test_mj_ray(self):
|
|
# mj_ray has tricky argument types
|
|
geomid = np.zeros(1, np.int32)
|
|
mujoco.mj_forward(self.model, self.data)
|
|
mujoco.mj_ray(self.model, self.data, [0, 0, 0], [0, 0, 1], None, 0, 0,
|
|
geomid)
|
|
mujoco.mj_ray(self.model, self.data, [0, 0, 0], [0, 0, 1],
|
|
[0, 0, 0, 0, 0, 0], 0, 0, geomid)
|
|
# Check that named arguments work
|
|
mujoco.mj_ray(
|
|
m=self.model,
|
|
d=self.data,
|
|
pnt=[0, 0, 0],
|
|
vec=[0, 0, 1],
|
|
geomgroup=None,
|
|
flg_static=0,
|
|
bodyexclude=0,
|
|
geomid=geomid)
|
|
|
|
def test_mj_multi_ray(self):
|
|
nray = 3
|
|
geom1 = np.zeros(1, np.int32)
|
|
pnt = np.array([-0.3, 0, 0.1])
|
|
vec = np.array([[1, 0, 0], [0, 0, 1], [0, 0, -1]], np.float64)
|
|
dist_ex = np.array([0.2, -1, 0.1])
|
|
geom_ex = np.array([1, -1, 0])
|
|
geomid = np.zeros(nray, np.int32)
|
|
dist = np.zeros(nray, np.float64)
|
|
|
|
mujoco.mj_forward(self.model, self.data)
|
|
mujoco.mj_multiRay(
|
|
m=self.model,
|
|
d=self.data,
|
|
pnt=pnt,
|
|
vec=vec.flatten(),
|
|
geomgroup=None,
|
|
flg_static=1,
|
|
bodyexclude=-1,
|
|
geomid=geomid,
|
|
dist=dist,
|
|
nray=nray,
|
|
cutoff=mujoco.mjMAXVAL)
|
|
|
|
for i in range(0, 3):
|
|
self.assertEqual(
|
|
dist[i],
|
|
mujoco.mj_ray(
|
|
self.model, self.data, pnt, vec[i], None, 1, -1, geom1
|
|
),
|
|
)
|
|
self.assertEqual(geomid[i], geom1)
|
|
self.assertEqual(geomid[i], geom_ex[i])
|
|
self.assertAlmostEqual(dist[i], dist_ex[i])
|
|
|
|
def test_inverse_fd_none(self):
|
|
eps = 1e-6
|
|
flg_centered = 0
|
|
mujoco.mjd_inverseFD(self.model, self.data, eps, flg_centered,
|
|
None, None, None, None, None, None, None)
|
|
|
|
def test_inverse_fd(self):
|
|
eps = 1e-6
|
|
flg_centered = 0
|
|
df_dq = np.zeros((self.model.nv, self.model.nv))
|
|
df_dv = np.zeros((self.model.nv, self.model.nv))
|
|
df_da = np.zeros((self.model.nv, self.model.nv))
|
|
ds_dq = np.zeros((self.model.nv, self.model.nsensordata))
|
|
ds_dv = np.zeros((self.model.nv, self.model.nsensordata))
|
|
ds_da = np.zeros((self.model.nv, self.model.nsensordata))
|
|
dm_dq = np.zeros((self.model.nv, self.model.nM))
|
|
mujoco.mjd_inverseFD(self.model, self.data, eps, flg_centered,
|
|
df_dq, df_dv, df_da, ds_dq, ds_dv, ds_da, dm_dq)
|
|
self.assertGreater(np.linalg.norm(df_dq), eps)
|
|
self.assertGreater(np.linalg.norm(df_dv), eps)
|
|
self.assertGreater(np.linalg.norm(df_da), eps)
|
|
self.assertGreater(np.linalg.norm(ds_dq), eps)
|
|
self.assertGreater(np.linalg.norm(ds_dv), eps)
|
|
self.assertGreater(np.linalg.norm(ds_da), eps)
|
|
|
|
def test_mjd_sub_quat(self):
|
|
quat1 = np.array((0.2, 0.3, 0.3, 0.4))
|
|
quat2 = np.array((0.2, 0.3, 0.3, 0.4))
|
|
d1 = np.empty(9, np.float64)
|
|
d2 = np.empty(9, np.float64)
|
|
mujoco.mjd_subQuat(quat1, quat2, d1, d2)
|
|
|
|
def test_mjd_quat_intergrate(self):
|
|
scale = 0.1
|
|
vel = np.array((0.2, 0.3, 0.3))
|
|
d_quat = np.empty(9, np.float64)
|
|
d_vel = np.empty(9, np.float64)
|
|
d_h = np.empty(3, np.float64)
|
|
mujoco.mjd_quatIntegrate(vel, scale, d_quat, d_vel, d_h)
|
|
|
|
def test_banded(self):
|
|
n_total = 4
|
|
n_band = 1
|
|
n_dense = 1
|
|
dense = np.array([[1.0, 0, 0, 0.1],
|
|
[0, 2.0, 0, 0.2],
|
|
[0, 0, 3.0, 0.3],
|
|
[0.1, 0.2, 0.3, 4.0]])
|
|
band = np.zeros(n_band*(n_total-n_dense) + n_dense*n_total)
|
|
mujoco.mju_dense2Band(band, dense, n_total, n_band, n_dense)
|
|
for i in range(4):
|
|
index = mujoco.mju_bandDiag(i, n_total, n_band, n_dense)
|
|
self.assertEqual(band[index], i+1)
|
|
dense2 = np.zeros((n_total, n_total))
|
|
flg_sym = 1
|
|
mujoco.mju_band2Dense(dense2, band, n_total, n_band, n_dense, flg_sym)
|
|
np.testing.assert_array_equal(dense, dense2)
|
|
vec = np.array([[2.0], [2.0], [3.0], [4.0]])
|
|
res = np.zeros_like(vec)
|
|
n_vec = 1
|
|
mujoco.mju_bandMulMatVec(res, band, vec,
|
|
n_total, n_band, n_dense, n_vec, flg_sym)
|
|
np.testing.assert_array_equal(res, dense @ vec)
|
|
diag_add = 0
|
|
diag_mul = 0
|
|
mujoco.mju_cholFactorBand(band, n_total, n_band, n_dense,
|
|
diag_add, diag_mul)
|
|
mujoco.mju_cholSolveBand(res, band, vec, n_total, n_band, n_dense)
|
|
np.testing.assert_almost_equal(res, np.linalg.solve(dense, vec))
|
|
|
|
def test_mju_box_qp(self):
|
|
n = 5
|
|
res = np.zeros(n)
|
|
r = np.zeros((n, n+7))
|
|
index = np.zeros(n, np.int32)
|
|
h = np.eye(n)
|
|
g = np.ones((n,))
|
|
lower = -np.ones((n,))
|
|
upper = np.ones((n,))
|
|
rank = mujoco.mju_boxQP(res, r, index, h, g, lower, upper)
|
|
self.assertGreater(rank, -1)
|
|
|
|
def test_mju_fill(self):
|
|
res = np.empty(3, np.float64)
|
|
mujoco.mju_fill(res, 1.5)
|
|
np.testing.assert_array_equal(res, np.full(3, 1.5))
|
|
|
|
def test_mju_eye(self):
|
|
eye4 = np.empty((4, 4), np.float64)
|
|
mujoco.mju_eye(eye4)
|
|
np.testing.assert_array_equal(eye4, np.eye(4))
|
|
|
|
def test_mju_symmetrize(self):
|
|
mat = np.linspace(0, 1, 16).reshape(4, 4)
|
|
res = np.empty((4, 4), np.float64)
|
|
mujoco.mju_symmetrize(res, mat)
|
|
np.testing.assert_array_equal(res, 0.5*(mat + mat.T))
|
|
|
|
def test_mju_clip(self):
|
|
self.assertEqual(mujoco.mju_clip(1.5, 1.0, 2.0), 1.5)
|
|
self.assertEqual(mujoco.mju_clip(1.5, 2.0, 3.0), 2.0)
|
|
self.assertEqual(mujoco.mju_clip(1.5, 0.0, 1.0), 1.0)
|
|
|
|
def test_mju_mul_vec_mat_vec(self):
|
|
vec1 = np.array([1., 2., 3.])
|
|
vec2 = np.array([3., 2., 1.])
|
|
mat = np.array([[1., 2., 3.], [4., 5., 6.], [7., 8., 9.]])
|
|
self.assertEqual(mujoco.mju_mulVecMatVec(vec1, mat, vec2), 204.)
|
|
|
|
@parameterized.product(flg_html=(False, True), flg_pad=(False, True))
|
|
def test_mj_printSchema(self, flg_html, flg_pad): # pylint: disable=invalid-name
|
|
# Make sure that mj_printSchema doesn't raise an exception
|
|
# (e.g. because the internal output buffer is too small)
|
|
self.assertIn('mujoco', mujoco.mj_printSchema(flg_html, flg_pad))
|
|
|
|
def test_pickle_mjdata(self):
|
|
mujoco.mj_step(self.model, self.data)
|
|
data2 = pickle.loads(pickle.dumps(self.data))
|
|
attr_to_compare = (
|
|
'time', 'qpos', 'qvel', 'qacc', 'xpos', 'mocap_pos',
|
|
'warning', 'energy'
|
|
)
|
|
self._assert_attributes_equal(data2, self.data, attr_to_compare)
|
|
for _ in range(10):
|
|
mujoco.mj_step(self.model, self.data)
|
|
mujoco.mj_step(self.model, data2)
|
|
self._assert_attributes_equal(data2, self.data, attr_to_compare)
|
|
|
|
def test_pickle_mjmodel(self):
|
|
model2 = pickle.loads(pickle.dumps(self.model))
|
|
attr_to_compare = (
|
|
'nq', 'nmat', 'body_pos', 'names',
|
|
)
|
|
self._assert_attributes_equal(model2, self.model, attr_to_compare)
|
|
|
|
def test_indexer_name_id(self):
|
|
xml = r"""
|
|
<mujoco>
|
|
<worldbody>
|
|
<geom name="mygeom" size="1" pos="0 0 1"/>
|
|
<geom size="2" pos="0 0 2"/>
|
|
<geom size="3" pos="0 0 3"/>
|
|
<geom name="myothergeom" size="4" pos="0 0 4"/>
|
|
<geom size="5" pos="0 0 5"/>
|
|
</worldbody>
|
|
</mujoco>
|
|
"""
|
|
|
|
model = mujoco.MjModel.from_xml_string(xml)
|
|
self.assertEqual(model.geom('mygeom').id, 0)
|
|
self.assertEqual(model.geom('myothergeom').id, 3)
|
|
self.assertEqual(model.geom(0).name, 'mygeom')
|
|
self.assertEqual(model.geom(1).name, '')
|
|
self.assertEqual(model.geom(2).name, '')
|
|
self.assertEqual(model.geom(3).name, 'myothergeom')
|
|
self.assertEqual(model.geom(4).name, '')
|
|
self.assertEqual(model.geom(0).size[0], 1)
|
|
self.assertEqual(model.geom(1).size[0], 2)
|
|
self.assertEqual(model.geom(2).size[0], 3)
|
|
self.assertEqual(model.geom(3).size[0], 4)
|
|
self.assertEqual(model.geom(4).size[0], 5)
|
|
|
|
data = mujoco.MjData(model)
|
|
mujoco.mj_forward(model, data)
|
|
self.assertEqual(data.geom('mygeom').id, 0)
|
|
self.assertEqual(data.geom('myothergeom').id, 3)
|
|
self.assertEqual(data.geom(0).name, 'mygeom')
|
|
self.assertEqual(data.geom(1).name, '')
|
|
self.assertEqual(data.geom(2).name, '')
|
|
self.assertEqual(data.geom(3).name, 'myothergeom')
|
|
self.assertEqual(data.geom(4).name, '')
|
|
self.assertEqual(data.geom(0).xpos[2], 1)
|
|
self.assertEqual(data.geom(1).xpos[2], 2)
|
|
self.assertEqual(data.geom(2).xpos[2], 3)
|
|
self.assertEqual(data.geom(3).xpos[2], 4)
|
|
self.assertEqual(data.geom(4).xpos[2], 5)
|
|
|
|
def test_load_plugin(self):
|
|
model = mujoco.MjModel.from_xml_string(TEST_XML_PLUGIN)
|
|
data = mujoco.MjData(model)
|
|
mujoco.mj_forward(model, data)
|
|
|
|
def test_copy_mjdata_with_plugin(self):
|
|
model = mujoco.MjModel.from_xml_string(TEST_XML_PLUGIN)
|
|
data1 = mujoco.MjData(model)
|
|
self.assertIs(data1.model, model)
|
|
mujoco.mj_step(model, data1)
|
|
data2 = copy.copy(data1)
|
|
mujoco.mj_step(model, data1)
|
|
mujoco.mj_step(model, data2)
|
|
np.testing.assert_array_equal(data1.qpos, data2.qpos)
|
|
self.assertIs(data1.model, data2.model)
|
|
|
|
def test_deepcopy_mjdata_with_plugin(self):
|
|
model = mujoco.MjModel.from_xml_string(TEST_XML_PLUGIN)
|
|
data1 = mujoco.MjData(model)
|
|
self.assertIs(data1.model, model)
|
|
mujoco.mj_step(model, data1)
|
|
data2 = copy.deepcopy(data1)
|
|
mujoco.mj_step(model, data1)
|
|
mujoco.mj_step(model, data2)
|
|
np.testing.assert_array_equal(data1.qpos, data2.qpos)
|
|
self.assertIsNot(data1.model, data2.model)
|
|
self.assertNotEqual(data1.model._address, data2.model._address)
|
|
|
|
def _assert_attributes_equal(self, actual_obj, expected_obj, attr_to_compare):
|
|
for name in attr_to_compare:
|
|
actual_value = getattr(actual_obj, name)
|
|
expected_value = getattr(expected_obj, name)
|
|
try:
|
|
if isinstance(expected_value, np.ndarray):
|
|
np.testing.assert_array_equal(actual_value, expected_value)
|
|
else:
|
|
self.assertEqual(actual_value, expected_value)
|
|
except AssertionError as e:
|
|
self.fail("Attribute '{}' differs from expected value: {}".format(
|
|
name, str(e)))
|
|
|
|
|
|
if __name__ == '__main__':
|
|
absltest.main()
|