File size: 2,358 Bytes
6e5cc8b | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 | # Copyright 2017 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 parse_amc utility."""
from __future__ import absolute_import
from __future__ import division
from __future__ import print_function
import os
# Internal dependencies.
from absl.testing import absltest
from . import humanoid_CMU
from dm_control.suite.utils import parse_amc
from dm_control.utils import io as resources
_TEST_AMC_PATH = resources.GetResourceFilename(
os.path.join(os.path.dirname(__file__), "../demos/zeros.amc")
)
class ParseAMCTest(absltest.TestCase):
def test_sizes_of_parsed_data(self):
# Instantiate the humanoid environment.
env = humanoid_CMU.stand()
# Parse and convert specified clip.
converted = parse_amc.convert(
_TEST_AMC_PATH, env.physics, env.control_timestep()
)
self.assertEqual(converted.qpos.shape[0], 63)
self.assertEqual(converted.qvel.shape[0], 62)
self.assertEqual(converted.time.shape[0], converted.qpos.shape[1])
self.assertEqual(converted.qpos.shape[1], converted.qvel.shape[1] + 1)
# Parse and convert specified clip -- WITH SMALLER TIMESTEP
converted2 = parse_amc.convert(
_TEST_AMC_PATH, env.physics, 0.5 * env.control_timestep()
)
self.assertEqual(converted2.qpos.shape[0], 63)
self.assertEqual(converted2.qvel.shape[0], 62)
self.assertEqual(converted2.time.shape[0], converted2.qpos.shape[1])
self.assertEqual(converted.qpos.shape[1], converted.qvel.shape[1] + 1)
# Compare sizes of parsed objects for different timesteps
self.assertEqual(converted.qpos.shape[1] * 2, converted2.qpos.shape[1])
if __name__ == "__main__":
absltest.main()
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