# Copyright 2018 The dm_control Authors.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# ============================================================================
"""Tests for `dm_control.mjcf.traversal_utils`."""
import numpy as np
from absl.testing import absltest
from rofunc.utils.robolab.formatter import mjcf_parser as mjcf
[docs]class TraversalUtilsTest(absltest.TestCase):
[docs] def assert_same_attributes(self, element, expected_attributes):
actual_attributes = element.get_attributes()
self.assertEqual(set(actual_attributes.keys()),
set(expected_attributes.keys()))
for name in actual_attributes:
actual_value = actual_attributes[name]
expected_value = expected_attributes[name]
np.testing.assert_array_equal(actual_value, expected_value, name)
[docs] def test_resolve_root_defaults(self):
root = mjcf.RootElement()
root.default.geom.type = 'box'
root.default.geom.pos = [0, 1, 0]
root.default.joint.ref = 2
root.default.joint.pos = [0, 0, 1]
# Own attribute overriding default.
body = root.worldbody.add('body')
geom1 = body.add('geom', type='sphere')
mjcf.commit_defaults(geom1)
self.assert_same_attributes(geom1, dict(
type='sphere',
pos=[0, 1, 0]))
# No explicit attributes.
geom2 = body.add('geom')
mjcf.commit_defaults(geom2)
self.assert_same_attributes(geom2, dict(
type='box',
pos=[0, 1, 0]))
# Attributes mutually exclusive with those defined in default.
joint1 = body.add('joint', margin=3)
mjcf.commit_defaults(joint1)
self.assert_same_attributes(joint1, dict(
pos=[0, 0, 1],
ref=2,
margin=3))
[docs] def test_resolve_defaults_for_some_attributes(self):
root = mjcf.RootElement()
root.default.geom.type = 'box'
root.default.geom.pos = [0, 1, 0]
geom1 = root.worldbody.add('geom')
mjcf.commit_defaults(geom1, attributes=['pos'])
self.assert_same_attributes(geom1, dict(
pos=[0, 1, 0]))
[docs] def test_resolve_hierarchies_of_defaults(self):
root = mjcf.RootElement()
root.default.geom.type = 'box'
root.default.joint.pos = [0, 1, 0]
top1 = root.default.add('default', dclass='top1')
top1.geom.pos = [0.1, 0, 0]
top1.joint.pos = [1, 0, 0]
top1.joint.axis = [0, 0, 1]
sub1 = top1.add('default', dclass='sub1')
sub1.geom.size = [0.5]
top2 = root.default.add('default', dclass='top2')
top2.joint.pos = [0, 0, 1]
top2.joint.axis = [0, 1, 0]
top2.geom.type = 'sphere'
body = root.worldbody.add('body')
geom1 = body.add('geom', dclass=sub1)
mjcf.commit_defaults(geom1)
self.assert_same_attributes(geom1, dict(
dclass=sub1,
type='box',
size=[0.5],
pos=[0.1, 0, 0]))
geom2 = body.add('geom', dclass=top1)
mjcf.commit_defaults(geom2)
self.assert_same_attributes(geom2, dict(
dclass=top1,
type='box',
pos=[0.1, 0, 0]))
geom3 = body.add('geom', dclass=top2)
mjcf.commit_defaults(geom3)
self.assert_same_attributes(geom3, dict(
dclass=top2,
type='sphere'))
geom4 = body.add('geom')
mjcf.commit_defaults(geom4)
self.assert_same_attributes(geom4, dict(
type='box'))
joint1 = body.add('joint', dclass=sub1)
mjcf.commit_defaults(joint1)
self.assert_same_attributes(joint1, dict(
dclass=sub1,
pos=[1, 0, 0],
axis=[0, 0, 1]))
joint2 = body.add('joint', dclass=top2)
mjcf.commit_defaults(joint2)
self.assert_same_attributes(joint2, dict(
dclass=top2,
pos=[0, 0, 1],
axis=[0, 1, 0]))
joint3 = body.add('joint')
mjcf.commit_defaults(joint3)
self.assert_same_attributes(joint3, dict(
pos=[0, 1, 0]))
[docs] def test_resolve_actuator_defaults(self):
root = mjcf.RootElement()
root.default.general.forcelimited = 'true'
root.default.motor.forcerange = [-2, 3]
root.default.position.kp = 0.1
root.default.velocity.kv = 0.2
body = root.worldbody.add('body')
joint = body.add('joint')
motor = root.actuator.add('motor', joint=joint)
mjcf.commit_defaults(motor)
self.assert_same_attributes(motor, dict(
joint=joint,
forcelimited='true',
forcerange=[-2, 3]))
position = root.actuator.add('position', joint=joint)
mjcf.commit_defaults(position)
self.assert_same_attributes(position, dict(
joint=joint,
kp=0.1,
kv=0.2,
forcelimited='true',
forcerange=[-2, 3]))
velocity = root.actuator.add('velocity', joint=joint)
mjcf.commit_defaults(velocity)
self.assert_same_attributes(velocity, dict(
joint=joint,
kv=0.2,
forcelimited='true',
forcerange=[-2, 3]))
[docs] def test_resolve_childclass(self):
root = mjcf.RootElement()
root.default.geom.type = 'capsule'
top = root.default.add('default', dclass='top')
top.geom.pos = [0, 1, 0]
sub = top.add('default', dclass='sub')
sub.geom.pos = [0, 0, 1]
# Element only affected by the childclass of immediate parent.
body = root.worldbody.add('body', childclass=sub)
geom1 = body.add('geom')
mjcf.commit_defaults(geom1)
self.assert_same_attributes(geom1, dict(
type='capsule',
pos=[0, 0, 1]))
# Element overrides parent's childclass.
geom2 = body.add('geom', dclass=top)
mjcf.commit_defaults(geom2)
self.assert_same_attributes(geom2, dict(
dclass=top,
type='capsule',
pos=[0, 1, 0]))
# Element's parent overrides grandparent's childclass.
subbody1 = body.add('body', childclass=top)
geom3 = subbody1.add('geom')
mjcf.commit_defaults(geom3)
self.assert_same_attributes(geom3, dict(
type='capsule',
pos=[0, 1, 0]))
# Element's grandparent does not specify a childclass, but grandparent does.
subbody2 = body.add('body')
geom4 = subbody2.add('geom')
mjcf.commit_defaults(geom4)
self.assert_same_attributes(geom4, dict(
type='capsule',
pos=[0, 0, 1]))
# Direct child of worldbody, not affected by any childclass.
geom5 = root.worldbody.add('geom')
mjcf.commit_defaults(geom5)
self.assert_same_attributes(geom5, dict(
type='capsule'))
if __name__ == '__main__':
absltest.main()
