File size: 8,221 Bytes
2c55b92 | 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 | // Copyright 2019 DeepMind Technologies Limited
//
// 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.
using System;
using System.Collections;
using System.Collections.Generic;
using System.Xml;
using NUnit.Framework;
using UnityEngine;
namespace Mujoco {
[TestFixture]
public class MjGlobalSettingsGenerationTests {
private MjGlobalSettings _settings;
private XmlDocument _doc;
private XmlElement _root;
[SetUp]
public void SetUp() {
_settings = new GameObject("settings").AddComponent<MjGlobalSettings>();
_doc = new XmlDocument();
_root = (XmlElement)_doc.AppendChild(_doc.CreateElement("root"));
}
[TearDown]
public void TearDown() {
UnityEngine.Object.DestroyImmediate(_settings.gameObject);
}
[Test]
public void GenerateOptionSizeFlagCustomNumeric() {
_settings.GlobalOptions.ImpRatio = 1.2f;
_settings.GlobalOptions.Magnetic = new Vector3(3.4f, 4.5f, 5.6f);
_settings.GlobalOptions.Wind = new Vector3(6.7f, 7.8f, 8.9f);
_settings.GlobalOptions.Density = 0.1f;
_settings.GlobalOptions.Viscosity = 2.3f;
_settings.GlobalOptions.OverrideMargin = 4.5f;
_settings.GlobalOptions.Integrator = IntegratorType.RK4;
_settings.GlobalOptions.Cone = FrictionConeType.elliptic;
_settings.GlobalOptions.Jacobian = JacobianType.dense;
_settings.GlobalOptions.Solver = ConstraintSolverType.PGS;
_settings.GlobalOptions.Iterations = 12;
_settings.GlobalOptions.Tolerance = 3.4f;
_settings.GlobalOptions.NoSlipIterations = 5;
_settings.GlobalOptions.NoSlipTolerance = 6.7f;
_settings.GlobalOptions.CcdIterations = 8;
_settings.GlobalOptions.CcdTolerance = 0.9f;
_settings.GlobalSizes.Memory = "1M";
_settings.GlobalsToMjcf(_root);
Assert.That(_doc.OuterXml, Does.Contain(@"impratio=""1.2"""));
Assert.That(_doc.OuterXml, Does.Contain(@"magnetic=""3.4 4.5 5.6"""));
Assert.That(_doc.OuterXml, Does.Contain(@"wind=""6.7 7.8 8.9"""));
Assert.That(_doc.OuterXml, Does.Contain(@"density=""0.1"""));
Assert.That(_doc.OuterXml, Does.Contain(@"viscosity=""2.3"""));
Assert.That(_doc.OuterXml, Does.Contain(@"o_margin=""4.5"""));
Assert.That(_doc.OuterXml, Does.Contain(@"integrator=""RK4"""));
Assert.That(_doc.OuterXml, Does.Contain(@"cone=""elliptic"""));
Assert.That(_doc.OuterXml, Does.Contain(@"jacobian=""dense"""));
Assert.That(_doc.OuterXml, Does.Contain(@"o_solref="));
Assert.That(_doc.OuterXml, Does.Contain(@"o_solimp="));
Assert.That(_doc.OuterXml, Does.Contain(@"solver=""PGS"""));
Assert.That(_doc.OuterXml, Does.Contain(@"iterations=""12"""));
Assert.That(_doc.OuterXml, Does.Contain(@"tolerance=""3.4"""));
Assert.That(_doc.OuterXml, Does.Contain(@"noslip_iterations=""5"""));
Assert.That(_doc.OuterXml, Does.Contain(@"noslip_tolerance=""6.7"""));
Assert.That(_doc.OuterXml, Does.Contain(@"ccd_iterations=""8"""));
Assert.That(_doc.OuterXml, Does.Contain(@"ccd_tolerance=""0.9"""));
Assert.That(_doc.OuterXml, Does.Contain(@"memory=""1M"""));
}
[Test]
public void GenerateFlag() {
_settings.GlobalOptions.Flag.Gravity = EnableDisableFlag.disable;
_settings.GlobalsToMjcf(_root);
Assert.That(_doc.OuterXml, Does.Contain(@"gravity=""disable"""));
Assert.That(_doc.OuterXml, Does.Contain(@"constraint="));
Assert.That(_doc.OuterXml, Does.Contain(@"equality="));
Assert.That(_doc.OuterXml, Does.Contain(@"frictionloss="));
Assert.That(_doc.OuterXml, Does.Contain(@"limit="));
Assert.That(_doc.OuterXml, Does.Contain(@"contact="));
Assert.That(_doc.OuterXml, Does.Contain(@"passive="));
Assert.That(_doc.OuterXml, Does.Contain(@"clampctrl="));
Assert.That(_doc.OuterXml, Does.Contain(@"warmstart="));
Assert.That(_doc.OuterXml, Does.Contain(@"filterparent="));
Assert.That(_doc.OuterXml, Does.Contain(@"actuation="));
Assert.That(_doc.OuterXml, Does.Contain(@"refsafe="));
Assert.That(_doc.OuterXml, Does.Contain(@"override="));
Assert.That(_doc.OuterXml, Does.Contain(@"energy="));
Assert.That(_doc.OuterXml, Does.Contain(@"fwdinv="));
}
}
[TestFixture]
public class MjGlobalSettingsParsingTests {
private MjGlobalSettings _settings;
private XmlElement _root;
private XmlElement _option;
private XmlElement _size;
private XmlElement _flag;
private XmlElement _numeric;
[SetUp]
public void SetUp() {
_settings = new GameObject("settings").AddComponent<MjGlobalSettings>();
var doc = new XmlDocument();
_root = (XmlElement)doc.AppendChild(doc.CreateElement("root"));
_option = (XmlElement)_root.AppendChild(doc.CreateElement("option"));
_size = (XmlElement)_root.AppendChild(doc.CreateElement("size"));
_flag = (XmlElement)_option.AppendChild(doc.CreateElement("flag"));
var custom = (XmlElement)_root.AppendChild(doc.CreateElement("custom"));
_numeric = (XmlElement)custom.AppendChild(doc.CreateElement("numeric"));
}
[TearDown]
public void TearDown() {
UnityEngine.Object.DestroyImmediate(_settings.gameObject);
}
[Test]
public void ParseSizeOptionFlagCustomNumeric() {
_option.SetAttribute("impratio", "1.2");
_option.SetAttribute("magnetic", "3.4 4.5 5.6");
_option.SetAttribute("wind", "6.7 7.8 8.9");
_option.SetAttribute("density", "0.1");
_option.SetAttribute("viscosity", "2.3");
_option.SetAttribute("o_margin", "4.5");
_option.SetAttribute("integrator", "RK4");
_option.SetAttribute("cone", "elliptic");
_option.SetAttribute("jacobian", "dense");
_option.SetAttribute("solver", "PGS");
_option.SetAttribute("iterations", "12");
_option.SetAttribute("tolerance", "3.4");
_option.SetAttribute("noslip_iterations", "5");
_option.SetAttribute("noslip_tolerance", "6.7");
_option.SetAttribute("ccd_iterations", "8");
_option.SetAttribute("ccd_tolerance", "0.9");
_flag.SetAttribute("gravity", "disable");
_size.SetAttribute("memory", "1M");
_numeric.SetAttribute("name", "numeric_name");
_numeric.SetAttribute("data", "1 2 3");
_settings.ParseGlobalMjcfSections(_root);
Assert.That(_settings.GlobalOptions.ImpRatio, Is.EqualTo(1.2f));
Assert.That(_settings.GlobalOptions.Magnetic, Is.EqualTo(new Vector3(3.4f, 4.5f, 5.6f)));
Assert.That(_settings.GlobalOptions.Wind, Is.EqualTo(new Vector3(6.7f, 7.8f, 8.9f)));
Assert.That(_settings.GlobalOptions.Density, Is.EqualTo(0.1f));
Assert.That(_settings.GlobalOptions.Viscosity, Is.EqualTo(2.3f));
Assert.That(_settings.GlobalOptions.OverrideMargin, Is.EqualTo(4.5f));
Assert.That(_settings.GlobalOptions.Integrator, Is.EqualTo(IntegratorType.RK4));
Assert.That(_settings.GlobalOptions.Cone, Is.EqualTo(FrictionConeType.elliptic));
Assert.That(_settings.GlobalOptions.Jacobian, Is.EqualTo(JacobianType.dense));
Assert.That(_settings.GlobalOptions.Solver, Is.EqualTo(ConstraintSolverType.PGS));
Assert.That(_settings.GlobalOptions.Iterations, Is.EqualTo(12));
Assert.That(_settings.GlobalOptions.Tolerance, Is.EqualTo(3.4f));
Assert.That(_settings.GlobalOptions.NoSlipIterations, Is.EqualTo(5));
Assert.That(_settings.GlobalOptions.NoSlipTolerance, Is.EqualTo(6.7f));
Assert.That(_settings.GlobalOptions.CcdIterations, Is.EqualTo(8));
Assert.That(_settings.GlobalOptions.CcdTolerance, Is.EqualTo(0.9f));
Assert.That(_settings.GlobalOptions.Flag.Gravity, Is.EqualTo(EnableDisableFlag.disable));
Assert.That(_settings.GlobalSizes.Memory, Is.EqualTo("1M"));
Assert.That(_settings.CustomNumeric.Count, Is.EqualTo(1));
Assert.That(_settings.CustomNumeric[0].Name, Is.EqualTo("numeric_name"));
Assert.That(_settings.CustomNumeric[0].Data, Is.EqualTo("1 2 3"));
}
}
}
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