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// 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 MjJointSettingsGenerationTests {
private MjJointSettings _settings;
private XmlDocument _doc;
private XmlElement _mjcf;
[SetUp]
public void SetUp() {
_settings = new MjJointSettings();
_doc = new XmlDocument();
_mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("joint"));
}
[Test]
public void DampingMjcf() {
_settings.Spring.Damping = 5;
_settings.Spring.ToMjcf(_mjcf);
Assert.That(_doc.OuterXml, Does.Contain(@"damping=""5"""));
}
[Test]
public void FrictionLossMjcf() {
_settings.Solver.FrictionLoss = 5;
_settings.Solver.ToMjcf(_mjcf);
Assert.That(_doc.OuterXml, Does.Contain(@"frictionloss=""5"""));
}
[Test]
public void StiffnessMjcf() {
_settings.Spring.Stiffness = 5;
_settings.Spring.ToMjcf(_mjcf);
Assert.That(_doc.OuterXml, Does.Contain(@"stiffness=""5"""));
}
[Test]
public void SpringDamperSettingsMjcf() {
_settings.Spring.TimeConstant = 5;
_settings.Spring.DampingRatio = 6;
_settings.ToMjcf(_mjcf);
Assert.That(_doc.OuterXml, Does.Contain(@"springdamper=""5 6"""));
}
[Test]
public void SpringEquilibriumPoseMjcf() {
_settings.Spring.EquilibriumPose = 5;
_settings.Spring.ToMjcf(_mjcf);
Assert.That(_doc.OuterXml, Does.Contain(@"springref=""5"""));
}
[Test]
public void ArmatureMjcf() {
_settings.Armature = 3;
_settings.ToMjcf(_mjcf);
Assert.That(_doc.OuterXml, Does.Contain(@"armature=""3"""));
}
[Test]
public void SolverRefLimitMjcf() {
_settings.Solver.RefLimit = new SolverReference() { TimeConst = 5, DampRatio = 6 };
_settings.ToMjcf(_mjcf);
Assert.That(_doc.OuterXml, Does.Contain(@"solreflimit=""5 6"""));
}
[Test]
public void SolverImpLimitMjcf() {
_settings.Solver.ImpLimit = new SolverImpedance() {
DMin = 5, DMax = 6, Width = 7, Midpoint = 8, Power = 9 };
_settings.ToMjcf(_mjcf);
Assert.That(_doc.OuterXml, Does.Contain(@"solimplimit=""5 6 7 8 9"""));
}
[Test]
public void SolverRefFrictionMjcf() {
_settings.Solver.RefFriction = new SolverReference() { TimeConst = 5, DampRatio = 6 };
_settings.ToMjcf(_mjcf);
Assert.That(_doc.OuterXml, Does.Contain(@"solreffriction=""5 6"""));
}
[Test]
public void SolverImpFrictionMjcf() {
_settings.Solver.ImpFriction = new SolverImpedance() {
DMin = 5, DMax = 6, Width = 7, Midpoint = 8, Power = 9 };
_settings.ToMjcf(_mjcf);
Assert.That(_doc.OuterXml, Does.Contain(@"solimpfriction=""5 6 7 8 9"""));
}
}
[TestFixture]
public class MjJointSettingsParsingTests {
private MjJointSettings _settings;
private XmlDocument _doc;
private XmlElement _mjcf;
[SetUp]
public void SetUp() {
_doc = new XmlDocument();
_mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("joint"));
_settings = new MjJointSettings();
}
[Test]
public void DampingMjcf() {
_mjcf.SetAttribute("damping", "5");
_settings.FromMjcf(_mjcf);
Assert.That(_settings.Spring.Damping, Is.EqualTo(5));
}
[Test]
public void ArmatureMjcf() {
_mjcf.SetAttribute("armature", "3");
_settings.FromMjcf(_mjcf);
Assert.That(_settings.Armature, Is.EqualTo(3));
}
[Test]
public void FrictionLossMjcf() {
_mjcf.SetAttribute("frictionloss", "5");
_settings.FromMjcf(_mjcf);
Assert.That(_settings.Solver.FrictionLoss, Is.EqualTo(5));
}
[Test]
public void StiffnessMjcf() {
_mjcf.SetAttribute("stiffness", "5");
_settings.FromMjcf(_mjcf);
Assert.That(_settings.Spring.Stiffness, Is.EqualTo(5));
}
[Test]
public void SpringDamperSettingsMjcf() {
_mjcf.SetAttribute("springdamper", "5 6");
_settings.FromMjcf(_mjcf);
Assert.That(_settings.Spring.TimeConstant, Is.EqualTo(5));
Assert.That(_settings.Spring.DampingRatio, Is.EqualTo(6));
}
[Test]
public void SpringEquilibriumPoseMjcf() {
_mjcf.SetAttribute("springref", "5");
_settings.FromMjcf(_mjcf);
Assert.That(_settings.Spring.EquilibriumPose, Is.EqualTo(5));
}
[TestCase("true", true)]
[TestCase("false", false)]
public void ParsingJointLimitSettings(string setting, bool expected) {
_mjcf.SetAttribute("limited", setting);
_settings.FromMjcf(_mjcf);
Assert.That(_settings.Solver.Limited, Is.EqualTo(expected));
}
[TestCase("1", 1)]
[TestCase("-5", -5)]
public void ParsingJointLimitMarginSettings(string setting, float expected) {
_mjcf.SetAttribute("margin", setting);
_settings.FromMjcf(_mjcf);
Assert.That(_settings.Solver.Margin, Is.EqualTo(expected));
}
[Test]
public void SolverRefLimitMjcf() {
_mjcf.SetAttribute("solreflimit", "5 6");
_settings.FromMjcf(_mjcf);
Assert.That(_settings.Solver.RefLimit.TimeConst, Is.EqualTo(5));
Assert.That(_settings.Solver.RefLimit.DampRatio, Is.EqualTo(6));
}
[Test]
public void SolverImpLimitMjcf() {
_mjcf.SetAttribute("solimplimit", "5 6 7 8 9");
_settings.FromMjcf(_mjcf);
Assert.That(_settings.Solver.ImpLimit.DMin, Is.EqualTo(5));
Assert.That(_settings.Solver.ImpLimit.DMax, Is.EqualTo(6));
Assert.That(_settings.Solver.ImpLimit.Width, Is.EqualTo(7));
Assert.That(_settings.Solver.ImpLimit.Midpoint, Is.EqualTo(8));
Assert.That(_settings.Solver.ImpLimit.Power, Is.EqualTo(9));
}
[Test]
public void SolverRefFrictionMjcf() {
_mjcf.SetAttribute("solreffriction", "5 6");
_settings.FromMjcf(_mjcf);
Assert.That(_settings.Solver.RefFriction.TimeConst, Is.EqualTo(5));
Assert.That(_settings.Solver.RefFriction.DampRatio, Is.EqualTo(6));
}
[Test]
public void SolverImpFrictionMjcf() {
_mjcf.SetAttribute("solimpfriction", "5 6 7 8 9");
_settings.FromMjcf(_mjcf);
Assert.That(_settings.Solver.ImpFriction.DMin, Is.EqualTo(5));
Assert.That(_settings.Solver.ImpFriction.DMax, Is.EqualTo(6));
Assert.That(_settings.Solver.ImpFriction.Width, Is.EqualTo(7));
Assert.That(_settings.Solver.ImpFriction.Midpoint, Is.EqualTo(8));
Assert.That(_settings.Solver.ImpFriction.Power, Is.EqualTo(9));
}
}
}
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