Yuval Tassa
431f96572e
PiperOrigin-RevId: 815633571 Change-Id: Ib98f3eb2df47f96fa1fe6e987a3a0cd23a9479f6
191 lines
9.2 KiB
C++
191 lines
9.2 KiB
C++
// Copyright 2025 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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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <mujoco/experimental/usd/mjcPhysics/sceneAPI.h>
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#include <mujoco/mujoco.h>
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#include "test/fixture.h"
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#include <pxr/base/gf/vec3d.h>
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#include <pxr/base/vt/types.h>
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#include <pxr/usd/sdf/path.h>
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#include <pxr/usd/usd/common.h>
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#include <pxr/usd/usd/stage.h>
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#include <pxr/usd/usdPhysics/scene.h>
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namespace mujoco {
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namespace {
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using pxr::SdfPath;
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using MjcPhysicsSceneTest = MujocoTest;
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using testing::NotNull;
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// clang-format off
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#define EXPECT_TYPE_USD_FALLBACK_EQ_MODEL_DEFAULT(type, usd_attr, mjc_attr) \
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{ \
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type value; \
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mjc_phys_scene.Get##usd_attr##Attr().Get(&value); \
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EXPECT_EQ((mjtNum)value, default_model->opt.mjc_attr); \
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}
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#define EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(usd_attr, mjc_attr) \
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EXPECT_TYPE_USD_FALLBACK_EQ_MODEL_DEFAULT(double, usd_attr, mjc_attr)
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#define EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(usd_attr, mjc_flag) \
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{ \
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bool flag; \
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mjc_phys_scene.Get##usd_attr##Attr().Get(&flag); \
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EXPECT_NE(flag, default_model->opt.disableflags & (mjc_flag)); \
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}
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#define EXPECT_ENABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(usd_attr, mjc_flag) \
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{ \
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bool flag; \
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mjc_phys_scene.Get##usd_attr##Attr().Get(&flag); \
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EXPECT_EQ(flag, default_model->opt.enableflags & (mjc_flag)); \
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}
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#define EXPECT_INT_USD_FALLBACK_EQ_MODEL_DEFAULT(usd_attr, mjc_attr) \
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EXPECT_TYPE_USD_FALLBACK_EQ_MODEL_DEFAULT(int, usd_attr, mjc_attr)
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#define EXPECT_VEC3_USD_FALLBACK_EQ_MODEL_DEFAULT(usd_attr, mjc_attr) \
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{ \
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pxr::GfVec3d value; \
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mjc_phys_scene.Get##usd_attr##Attr().Get(&value); \
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EXPECT_EQ(value[0], default_model->opt.mjc_attr[0]); \
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EXPECT_EQ(value[1], default_model->opt.mjc_attr[1]); \
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EXPECT_EQ(value[2], default_model->opt.mjc_attr[2]); \
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}
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#define EXPECT_TYPE_ARR_USD_FALLBACK_EQ_MODEL_DEFAULT(type, usd_attr, mjc_attr)\
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{ \
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pxr::Vt##type##Array mjc_attr; \
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mjc_phys_scene.Get##usd_attr##Attr().Get(&mjc_attr); \
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EXPECT_THAT( \
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mjc_attr, \
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testing::ElementsAreArray(default_model->opt.mjc_attr) \
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); \
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}
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#define EXPECT_REAL_ARR_USD_FALLBACK_EQ_MODEL_DEFAULT(usd_attr, mjc_attr)\
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EXPECT_TYPE_ARR_USD_FALLBACK_EQ_MODEL_DEFAULT(Double, usd_attr, mjc_attr)
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#define EXPECT_INT_ARR_USD_FALLBACK_EQ_MODEL_DEFAULT(usd_attr, mjc_attr)\
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EXPECT_TYPE_ARR_USD_FALLBACK_EQ_MODEL_DEFAULT(Int, usd_attr, mjc_attr)
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// clang-format on
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TEST_F(MjcPhysicsSceneTest, TestDefaults) {
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auto stage = pxr::UsdStage::CreateInMemory();
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auto physics_scene =
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pxr::UsdPhysicsScene::Define(stage, SdfPath("/World/PhysicsScene"));
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auto mjc_phys_scene = pxr::MjcPhysicsSceneAPI::Apply(physics_scene.GetPrim());
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mjSpec* empty_spec = mj_makeSpec();
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mjModel* default_model = mj_compile(empty_spec, nullptr);
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EXPECT_THAT(default_model, NotNull());
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// Check that all the USD schema fallback values are the same
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// as the model defaults.
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// If this test is failing due to an update of defaults in Mujoco you need to
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// update mjcPhysics/schema.usda.
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EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(Timestep, timestep);
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EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(ImpRatio, impratio);
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EXPECT_VEC3_USD_FALLBACK_EQ_MODEL_DEFAULT(Wind, wind);
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EXPECT_VEC3_USD_FALLBACK_EQ_MODEL_DEFAULT(Magnetic, magnetic);
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EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(Density, density);
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EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(Viscosity, viscosity);
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EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(OMargin, o_margin);
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EXPECT_REAL_ARR_USD_FALLBACK_EQ_MODEL_DEFAULT(OSolRef, o_solref);
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EXPECT_REAL_ARR_USD_FALLBACK_EQ_MODEL_DEFAULT(OSolImp, o_solimp);
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EXPECT_REAL_ARR_USD_FALLBACK_EQ_MODEL_DEFAULT(OFriction, o_friction);
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EXPECT_INT_USD_FALLBACK_EQ_MODEL_DEFAULT(Iterations, iterations);
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EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(Tolerance, tolerance);
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EXPECT_INT_USD_FALLBACK_EQ_MODEL_DEFAULT(LSIterations, ls_iterations);
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EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(LSTolerance, ls_tolerance);
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EXPECT_INT_USD_FALLBACK_EQ_MODEL_DEFAULT(NoslipIterations, noslip_iterations);
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EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(NoslipTolerance, noslip_tolerance);
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EXPECT_INT_USD_FALLBACK_EQ_MODEL_DEFAULT(CCDIterations, ccd_iterations);
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EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(CCDTolerance, ccd_tolerance);
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EXPECT_INT_USD_FALLBACK_EQ_MODEL_DEFAULT(SDFIterations, sdf_iterations);
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EXPECT_INT_USD_FALLBACK_EQ_MODEL_DEFAULT(SDFInitPoints, sdf_initpoints);
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// We store the actuator disable groups as an array of integers, but the
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// model stores it as a bitmask.
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pxr::VtIntArray actuator_group_disable;
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mjc_phys_scene.GetActuatorGroupDisableAttr().Get(&actuator_group_disable);
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int bitmask = 0;
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for (int ind : actuator_group_disable) {
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bitmask |= 1 << ind;
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}
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EXPECT_EQ(default_model->opt.disableactuator, bitmask);
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EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(ConstraintFlag,
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mjDSBL_CONSTRAINT);
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EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(EqualityFlag,
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mjDSBL_EQUALITY);
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EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(FrictionLossFlag,
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mjDSBL_FRICTIONLOSS);
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EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(LimitFlag, mjDSBL_LIMIT);
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EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(ContactFlag,
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mjDSBL_CONTACT);
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EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(SpringFlag,
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mjDSBL_SPRING);
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EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(DamperFlag,
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mjDSBL_DAMPER);
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EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(GravityFlag,
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mjDSBL_GRAVITY);
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EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(ClampCtrlFlag,
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mjDSBL_CLAMPCTRL);
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EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(WarmStartFlag,
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mjDSBL_WARMSTART);
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EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(FilterParentFlag,
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mjDSBL_FILTERPARENT);
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EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(ActuationFlag,
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mjDSBL_ACTUATION);
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EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(RefSafeFlag,
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mjDSBL_REFSAFE);
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EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(SensorFlag, mjDSBL_SENSOR);
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EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(MidPhaseFlag,
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mjDSBL_MIDPHASE);
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EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(NativeCCDFlag,
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mjDSBL_NATIVECCD);
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EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(EulerDampFlag,
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mjDSBL_EULERDAMP);
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EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(AutoResetFlag,
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mjDSBL_AUTORESET);
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EXPECT_ENABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(OverrideFlag,
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mjENBL_OVERRIDE);
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EXPECT_ENABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(EnergyFlag, mjENBL_ENERGY);
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EXPECT_ENABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(FwdinvFlag, mjENBL_FWDINV);
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EXPECT_ENABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(InvDiscreteFlag,
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mjENBL_INVDISCRETE);
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EXPECT_ENABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(MultiCCDFlag,
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mjENBL_MULTICCD);
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mj_deleteModel(default_model);
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mj_deleteSpec(empty_spec);
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}
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} // namespace
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} // namespace mujoco
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