# 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(
"""
"""
)
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(
"""
"""
)
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(
"""
"""
)
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(
"""
"""
)
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(
"""
"""
)
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()