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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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 | # 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 pytest
import isaaclab.utils.string as string_utils
def test_case_conversion():
"""Test case conversion between camel case and snake case."""
# test camel case to snake case
assert string_utils.to_snake_case("CamelCase") == "camel_case"
assert string_utils.to_snake_case("camelCase") == "camel_case"
assert string_utils.to_snake_case("CamelCaseString") == "camel_case_string"
# test snake case to camel case
assert string_utils.to_camel_case("snake_case", to="CC") == "SnakeCase"
assert string_utils.to_camel_case("snake_case_string", to="CC") == "SnakeCaseString"
assert string_utils.to_camel_case("snake_case_string", to="cC") == "snakeCaseString"
def test_resolve_matching_names_with_basic_strings():
"""Test resolving matching names with a basic expression."""
# list of strings
target_names = ["a", "b", "c", "d", "e"]
# test matching names
query_names = ["a|c", "b"]
index_list, names_list = string_utils.resolve_matching_names(query_names, target_names)
assert index_list == [0, 1, 2]
assert names_list == ["a", "b", "c"]
# test matching names with regex
query_names = ["a.*", "b"]
index_list, names_list = string_utils.resolve_matching_names(query_names, target_names)
assert index_list == [0, 1]
assert names_list == ["a", "b"]
# test duplicate names
query_names = ["a|c", "b", "a|c"]
with pytest.raises(ValueError):
_ = string_utils.resolve_matching_names(query_names, target_names)
# test no regex match
query_names = ["a|c", "b", "f"]
with pytest.raises(ValueError):
_ = string_utils.resolve_matching_names(query_names, target_names)
def test_resolve_matching_names_with_joint_name_strings():
"""Test resolving matching names with joint names."""
# list of strings
robot_joint_names = []
for i in ["hip", "thigh", "calf"]:
for j in ["FL", "FR", "RL", "RR"]:
robot_joint_names.append(f"{j}_{i}_joint")
# test matching names
index_list, names_list = string_utils.resolve_matching_names(".*", robot_joint_names)
assert index_list == list(range(len(robot_joint_names)))
assert names_list == robot_joint_names
# test matching names with regex
index_list, names_list = string_utils.resolve_matching_names(".*_joint", robot_joint_names)
assert index_list == list(range(len(robot_joint_names)))
assert names_list == robot_joint_names
# test matching names with regex
index_list, names_list = string_utils.resolve_matching_names(["FL.*", "FR.*"], robot_joint_names)
ground_truth_index_list = [0, 1, 4, 5, 8, 9]
assert index_list == ground_truth_index_list
assert names_list == [robot_joint_names[i] for i in ground_truth_index_list]
# test matching names with regex
query_list = [
"FL_hip_joint",
"FL_thigh_joint",
"FR_hip_joint",
"FR_thigh_joint",
"FL_calf_joint",
"FR_calf_joint",
]
index_list, names_list = string_utils.resolve_matching_names(query_list, robot_joint_names)
ground_truth_index_list = [0, 1, 4, 5, 8, 9]
assert names_list != query_list
assert index_list == ground_truth_index_list
assert names_list == [robot_joint_names[i] for i in ground_truth_index_list]
# test matching names with regex but shuffled
# randomize order of previous query list
random.shuffle(query_list)
index_list, names_list = string_utils.resolve_matching_names(query_list, robot_joint_names)
ground_truth_index_list = [0, 1, 4, 5, 8, 9]
assert names_list != query_list
assert index_list == ground_truth_index_list
assert names_list == [robot_joint_names[i] for i in ground_truth_index_list]
def test_resolve_matching_names_with_preserved_order():
"""Test resolving matching names with preserved order."""
# list of strings and query list
robot_joint_names = []
for i in ["hip", "thigh", "calf"]:
for j in ["FL", "FR", "RL", "RR"]:
robot_joint_names.append(f"{j}_{i}_joint")
query_list = [
"FL_hip_joint",
"FL_thigh_joint",
"FR_hip_joint",
"FR_thigh_joint",
"FL_calf_joint",
"FR_calf_joint",
]
# test return in target ordering with sublist
query_list.reverse()
index_list, names_list = string_utils.resolve_matching_names(query_list, robot_joint_names, preserve_order=True)
ground_truth_index_list = [9, 8, 5, 1, 4, 0]
assert names_list == query_list
assert index_list == ground_truth_index_list
# test return in target ordering with regex expression
index_list, names_list = string_utils.resolve_matching_names(
["FR.*", "FL.*"], robot_joint_names, preserve_order=True
)
ground_truth_index_list = [1, 5, 9, 0, 4, 8]
assert index_list == ground_truth_index_list
assert names_list == [robot_joint_names[i] for i in ground_truth_index_list]
# test return in target ordering with a mix of regex and non-regex expression
index_list, names_list = string_utils.resolve_matching_names(
["FR.*", "FL_calf_joint", "FL_thigh_joint", "FL_hip_joint"], robot_joint_names, preserve_order=True
)
ground_truth_index_list = [1, 5, 9, 8, 4, 0]
assert index_list == ground_truth_index_list
assert names_list == [robot_joint_names[i] for i in ground_truth_index_list]
def test_resolve_matching_names_values_with_basic_strings():
"""Test resolving matching names with a basic expression."""
# list of strings
target_names = ["a", "b", "c", "d", "e"]
# test matching names
data = {"a|c": 1, "b": 2}
index_list, names_list, values_list = string_utils.resolve_matching_names_values(data, target_names)
assert index_list == [0, 1, 2]
assert names_list == ["a", "b", "c"]
assert values_list == [1, 2, 1]
# test matching names with regex
data = {"a|d|e": 1, "b|c": 2}
index_list, names_list, values_list = string_utils.resolve_matching_names_values(data, target_names)
assert index_list == [0, 1, 2, 3, 4]
assert names_list == ["a", "b", "c", "d", "e"]
assert values_list == [1, 2, 2, 1, 1]
# test matching names with regex
data = {"a|d|e|b": 1, "b|c": 2}
with pytest.raises(ValueError):
_ = string_utils.resolve_matching_names_values(data, target_names)
# test no regex match
query_names = {"a|c": 1, "b": 0, "f": 2}
with pytest.raises(ValueError):
_ = string_utils.resolve_matching_names_values(query_names, target_names)
def test_resolve_matching_names_values_with_strict_false():
"""Test resolving matching names with strict=False parameter."""
# list of strings
target_names = ["a", "b", "c", "d", "e"]
# test strict=False
data = {"a|c": 1, "b": 2, "f": 3}
index_list, names_list, values_list = string_utils.resolve_matching_names_values(data, target_names, strict=False)
assert index_list == [0, 1, 2]
assert names_list == ["a", "b", "c"]
assert values_list == [1, 2, 1]
# test failure case: multiple matches for a string (should still raise ValueError even with strict=False)
data = {"a|c": 1, "a": 2, "b": 3}
with pytest.raises(ValueError, match="Multiple matches for 'a':"):
_ = string_utils.resolve_matching_names_values(data, target_names, strict=False)
# test failure case: invalid input type (should still raise TypeError even with strict=False)
with pytest.raises(TypeError, match="Input argument `data` should be a dictionary"):
_ = string_utils.resolve_matching_names_values("not_a_dict", target_names, strict=False)
def test_resolve_matching_names_values_with_basic_strings_and_preserved_order():
"""Test resolving matching names with a basic expression."""
# list of strings
target_names = ["a", "b", "c", "d", "e"]
# test matching names
data = {"a|c": 1, "b": 2}
index_list, names_list, values_list = string_utils.resolve_matching_names_values(
data, target_names, preserve_order=True
)
assert index_list == [0, 2, 1]
assert names_list == ["a", "c", "b"]
assert values_list == [1, 1, 2]
# test matching names with regex
data = {"a|d|e": 1, "b|c": 2}
index_list, names_list, values_list = string_utils.resolve_matching_names_values(
data, target_names, preserve_order=True
)
assert index_list == [0, 3, 4, 1, 2]
assert names_list == ["a", "d", "e", "b", "c"]
assert values_list == [1, 1, 1, 2, 2]
# test matching names with regex
data = {"a|d|e|b": 1, "b|c": 2}
with pytest.raises(ValueError):
_ = string_utils.resolve_matching_names_values(data, target_names, preserve_order=True)
# test no regex match
query_names = {"a|c": 1, "b": 0, "f": 2}
with pytest.raises(ValueError):
_ = string_utils.resolve_matching_names_values(query_names, target_names, preserve_order=True)
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