Datasets:

conglu
/

vd4rl

	# 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 randomizers.py."""

	from __future__ import absolute_import
	from __future__ import division
	from __future__ import print_function

	# Internal dependencies.
	from absl.testing import absltest
	from absl.testing import parameterized
	from dm_control import mujoco
	from dm_control.mujoco.wrapper import mjbindings
	from dm_control.suite.utils import randomizers
	import numpy as np
	from six.moves import range

	mjlib = mjbindings.mjlib


	class RandomizeUnlimitedJointsTest(parameterized.TestCase):
	def setUp(self):
	self.rand = np.random.RandomState(100)

	def test_single_joint_of_each_type(self):
	physics = mujoco.Physics.from_xml_string(
	"""<mujoco>
	<default>
	<joint range="0 90" />
	</default>
	<worldbody>
	<body>
	<geom type="box" size="1 1 1"/>
	<joint name="free" type="free"/>
	</body>
	<body>
	<geom type="box" size="1 1 1"/>
	<joint name="limited_hinge" type="hinge" limited="true"/>
	<joint name="slide" type="slide"/>
	<joint name="limited_slide" type="slide" limited="true"/>
	<joint name="hinge" type="hinge"/>
	</body>
	<body>
	<geom type="box" size="1 1 1"/>
	<joint name="ball" type="ball"/>
	</body>
	<body>
	<geom type="box" size="1 1 1"/>
	<joint name="limited_ball" type="ball" limited="true"/>
	</body>
	</worldbody>
	</mujoco>"""
	)

	randomizers.randomize_limited_and_rotational_joints(physics, self.rand)
	self.assertNotEqual(0.0, physics.named.data.qpos["hinge"])
	self.assertNotEqual(0.0, physics.named.data.qpos["limited_hinge"])
	self.assertNotEqual(0.0, physics.named.data.qpos["limited_slide"])

	self.assertNotEqual(0.0, np.sum(physics.named.data.qpos["ball"]))
	self.assertNotEqual(0.0, np.sum(physics.named.data.qpos["limited_ball"]))

	self.assertNotEqual(0.0, np.sum(physics.named.data.qpos["free"][3:]))

	# Unlimited slide and the positional part of the free joint remains
	# uninitialized.
	self.assertEqual(0.0, physics.named.data.qpos["slide"])
	self.assertEqual(0.0, np.sum(physics.named.data.qpos["free"][:3]))

	def test_multiple_joints_of_same_type(self):
	physics = mujoco.Physics.from_xml_string(
	"""<mujoco>
	<worldbody>
	<body>
	<geom type="box" size="1 1 1"/>
	<joint name="hinge_1" type="hinge"/>
	<joint name="hinge_2" type="hinge"/>
	<joint name="hinge_3" type="hinge"/>
	</body>
	</worldbody>
	</mujoco>"""
	)

	randomizers.randomize_limited_and_rotational_joints(physics, self.rand)
	self.assertNotEqual(0.0, physics.named.data.qpos["hinge_1"])
	self.assertNotEqual(0.0, physics.named.data.qpos["hinge_2"])
	self.assertNotEqual(0.0, physics.named.data.qpos["hinge_3"])

	self.assertNotEqual(
	physics.named.data.qpos["hinge_1"], physics.named.data.qpos["hinge_2"]
	)

	self.assertNotEqual(
	physics.named.data.qpos["hinge_2"], physics.named.data.qpos["hinge_3"]
	)

	self.assertNotEqual(
	physics.named.data.qpos["hinge_1"], physics.named.data.qpos["hinge_3"]
	)

	def test_unlimited_hinge_randomization_range(self):
	physics = mujoco.Physics.from_xml_string(
	"""<mujoco>
	<worldbody>
	<body>
	<geom type="box" size="1 1 1"/>
	<joint name="hinge" type="hinge"/>
	</body>
	</worldbody>
	</mujoco>"""
	)

	for _ in range(10):
	randomizers.randomize_limited_and_rotational_joints(physics, self.rand)
	self.assertBetween(physics.named.data.qpos["hinge"], -np.pi, np.pi)

	def test_limited_1d_joint_limits_are_respected(self):
	physics = mujoco.Physics.from_xml_string(
	"""<mujoco>
	<default>
	<joint limited="true"/>
	</default>
	<worldbody>
	<body>
	<geom type="box" size="1 1 1"/>
	<joint name="hinge" type="hinge" range="0 10"/>
	<joint name="slide" type="slide" range="30 50"/>
	</body>
	</worldbody>
	</mujoco>"""
	)

	for _ in range(10):
	randomizers.randomize_limited_and_rotational_joints(physics, self.rand)
	self.assertBetween(
	physics.named.data.qpos["hinge"], np.deg2rad(0), np.deg2rad(10)
	)
	self.assertBetween(physics.named.data.qpos["slide"], 30, 50)

	def test_limited_ball_joint_are_respected(self):
	physics = mujoco.Physics.from_xml_string(
	"""<mujoco>
	<worldbody>
	<body name="body" zaxis="1 0 0">
	<geom type="box" size="1 1 1"/>
	<joint name="ball" type="ball" limited="true" range="0 60"/>
	</body>
	</worldbody>
	</mujoco>"""
	)

	body_axis = np.array([1.0, 0.0, 0.0])
	joint_axis = np.zeros(3)
	for _ in range(10):
	randomizers.randomize_limited_and_rotational_joints(physics, self.rand)

	quat = physics.named.data.qpos["ball"]
	mjlib.mju_rotVecQuat(joint_axis, body_axis, quat)
	angle_cos = np.dot(body_axis, joint_axis)
	self.assertGreater(angle_cos, 0.5) # cos(60) = 0.5


	if __name__ == "__main__":
	absltest.main()