File size: 3,121 Bytes
406662d | 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 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 | # Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
# NOTE: While we don't actually use the simulation app in this test, we still need to launch it
# because warp is only available in the context of a running simulation
"""Launch Isaac Sim Simulator first."""
from isaaclab.app import AppLauncher
# launch omniverse app
simulation_app = AppLauncher(headless=True).app
"""Rest everything follows."""
import random
import isaaclab.utils.dict as dict_utils
def _test_function(x):
"""Test function for string <-> callable conversion."""
return x**2
def _test_lambda_function(x):
"""Test function for string <-> callable conversion."""
return x**2
def test_print_dict():
"""Test printing of dictionary."""
# create a complex nested dictionary
test_dict = {
"a": 1,
"b": 2,
"c": {"d": 3, "e": 4, "f": {"g": 5, "h": 6}},
"i": 7,
"j": lambda x: x**2, # noqa: E731
"k": dict_utils.class_to_dict,
}
# print the dictionary
dict_utils.print_dict(test_dict)
def test_string_callable_function_conversion():
"""Test string <-> callable conversion for function."""
# convert function to string
test_string = dict_utils.callable_to_string(_test_function)
# convert string to function
test_function_2 = dict_utils.string_to_callable(test_string)
# check that functions are the same
assert _test_function(2) == test_function_2(2)
def test_string_callable_function_with_lambda_in_name_conversion():
"""Test string <-> callable conversion for function which has lambda in its name."""
# convert function to string
test_string = dict_utils.callable_to_string(_test_lambda_function)
# convert string to function
test_function_2 = dict_utils.string_to_callable(test_string)
# check that functions are the same
assert _test_function(2) == test_function_2(2)
def test_string_callable_lambda_conversion():
"""Test string <-> callable conversion for lambda expression."""
# create lambda function
func = lambda x: x**2 # noqa: E731
# convert function to string
test_string = dict_utils.callable_to_string(func)
# convert string to function
func_2 = dict_utils.string_to_callable(test_string)
# check that functions are the same
assert test_string == "lambda x: x**2"
assert func(2) == func_2(2)
def test_dict_to_md5():
"""Test MD5 hash generation for dictionary."""
# create a complex nested dictionary
test_dict = {
"a": 1,
"b": 2,
"c": {"d": 3, "e": 4, "f": {"g": 5, "h": 6}},
"i": random.random(),
"k": dict_utils.callable_to_string(dict_utils.class_to_dict),
}
# generate the MD5 hash
md5_hash_1 = dict_utils.dict_to_md5_hash(test_dict)
# check that the hash is correct even after multiple calls
for _ in range(200):
md5_hash_2 = dict_utils.dict_to_md5_hash(test_dict)
assert md5_hash_1 == md5_hash_2
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