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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.Linq;
using System.Xml;
using NUnit.Framework;
using UnityEngine;
using UnityEngine.TestTools;
namespace Mujoco {
[TestFixture]
public class MjcfImporterTests {
private GameObject _sceneRoot;
private MjcfImporter _importer;
[SetUp]
public void SetUp() {
_importer = new MjcfImporter();
}
[TearDown]
public void TearDown() {
if (_sceneRoot != null) {
UnityEngine.Object.DestroyImmediate(_sceneRoot);
}
}
[Test]
public void SceneRootIsGivenRequestedName() {
var rootName = "rootName";
var mjcfString = "<mujoco><worldbody/></mujoco>";
_sceneRoot = _importer.ImportString(name: rootName, mjcfString: mjcfString);
Assert.That(_sceneRoot.name, Is.EqualTo(rootName));
}
[Test]
public void ParsingAGeom() {
var mjcfString = @"<mujoco>
<worldbody>
<geom size='1'/>
</worldbody>
</mujoco>";
_sceneRoot = _importer.ImportString(
name: string.Empty, mjcfString: mjcfString);
Assert.That(_sceneRoot.transform.childCount, Is.EqualTo(1));
var geomChild = _sceneRoot.transform.GetChild(0).gameObject;
Assert.That(geomChild, Is.Not.Null);
Assert.That(geomChild.GetComponent<MjGeom>(), Is.Not.Null);
}
[TestCase("hinge", typeof(MjHingeJoint))]
[TestCase("slide", typeof(MjSlideJoint))]
[TestCase("free", typeof(MjFreeJoint))]
public void ParsingJoints(string typeId, Type jointType) {
var mjcfString = string.Format(@"<mujoco>
<worldbody>
<body>
<joint type=""{0}""/>
<geom size='1'/>
</body>
</worldbody>
</mujoco>", typeId);
_sceneRoot = _importer.ImportString(
name: string.Empty, mjcfString: mjcfString);
Assert.That(_sceneRoot.transform.childCount, Is.EqualTo(1));
var bodyChild = _sceneRoot.transform.GetChild(0).gameObject;
Assert.That(bodyChild.transform.childCount, Is.EqualTo(2));
var jointChild = bodyChild.transform.GetChild(0).gameObject;
Assert.That(jointChild, Is.Not.Null);
Assert.That(jointChild.GetComponent(jointType), Is.Not.Null);
}
[Test]
public void ParsingAFreeJointStandaloneNode() {
var mjcfString = @"<mujoco>
<worldbody>
<body>
<freejoint/>
<geom size='1'/>
</body>
</worldbody>
</mujoco>";
_sceneRoot = _importer.ImportString(
name: string.Empty, mjcfString: mjcfString);
Assert.That(_sceneRoot.transform.childCount, Is.EqualTo(1));
var bodyChild = _sceneRoot.transform.GetChild(0).gameObject;
Assert.That(bodyChild.transform.childCount, Is.EqualTo(2));
var jointChild = bodyChild.transform.GetChild(0).gameObject;
Assert.That(jointChild, Is.Not.Null);
Assert.That(jointChild.GetComponent<MjFreeJoint>(), Is.Not.Null);
}
[Test]
public void ParsingABody() {
var mjcfString = @"<mujoco>
<worldbody>
<body/>
</worldbody>
</mujoco>";
_sceneRoot = _importer.ImportString(
name: string.Empty, mjcfString: mjcfString);
Assert.That(_sceneRoot.transform.childCount, Is.EqualTo(1));
var bodyChild = _sceneRoot.transform.GetChild(0).gameObject;
Assert.That(bodyChild, Is.Not.Null);
Assert.That(bodyChild.GetComponent<MjBody>(), Is.Not.Null);
}
[Test]
public void ParsingChildrenOfABody() {
var mjcfString = @"<mujoco>
<worldbody>
<body>
<geom size='1'/>
<body/>
<joint type=""hinge""/>
</body>
</worldbody>
</mujoco>";
_sceneRoot = _importer.ImportString(
name: string.Empty, mjcfString: mjcfString);
Assert.That(_sceneRoot.transform.childCount, Is.EqualTo(1));
var bodyChild = _sceneRoot.transform.GetChild(0).gameObject;
Assert.That(bodyChild, Is.Not.Null);
Assert.That(bodyChild.transform.childCount, Is.EqualTo(3));
}
[Test]
public void AnonymousNodeReceivesGeneratedName() {
var mjcfString = @"<mujoco>
<worldbody>
<body/>
</worldbody>
</mujoco>";
_sceneRoot = _importer.ImportString(
name: string.Empty, mjcfString: mjcfString);
var bodyChild = _sceneRoot.transform.GetChild(0).gameObject;
Assert.That(bodyChild.name, Is.EqualTo("body_0"));
}
[Test]
public void AnonymousNodesReceiveTheSameNamesWithEveryImport() {
var mjcfString = @"<mujoco>
<worldbody>
<body/>
</worldbody>
</mujoco>";
var scenes = new GameObject[] {
_importer.ImportString(name: string.Empty, mjcfString: mjcfString),
_importer.ImportString(name: string.Empty, mjcfString: mjcfString)
};
// Ensure that the objects will be destroyed after the test is completed.
_sceneRoot = new GameObject();
foreach (var scene in scenes) {
scene.transform.parent = _sceneRoot.transform;
}
var children = scenes.Select(parent => parent.transform.GetChild(0).gameObject).ToArray();
Assert.That(children[0].name, Is.EqualTo(children[1].name));
}
[Test]
public void ApplyingDefaultOutsideWorldbody() {
var mjcfString = @"<mujoco>
<default>
<general ctrllimited='true' ctrlrange='-1 1'/>
</default>
<worldbody>
<body>
<geom name=""root_geom"" size='1 2'/>
<joint name='j'/>
</body>
</worldbody>
<actuator>
<general joint='j'/>
</actuator>
</mujoco>";
_sceneRoot = _importer.ImportString(
name: string.Empty, mjcfString: mjcfString);
var actuator = _sceneRoot.GetComponentInChildren<MjActuator>();
Assert.That(actuator.CommonParams.CtrlLimited, Is.True);
}
[Test]
public void ApplyingDefaultSettingsToNodeWithoutClass() {
var mjcfString = @"<mujoco>
<default>
<geom type=""cylinder""/>
</default>
<worldbody>
<geom name=""root_geom"" size='1 2'/>
</worldbody>
</mujoco>";
_sceneRoot = _importer.ImportString(
name: string.Empty, mjcfString: mjcfString);
var rootGeom = _sceneRoot.GetComponentInChildren<MjGeom>();
Assert.That(rootGeom.ShapeType, Is.EqualTo(MjShapeComponent.ShapeTypes.Cylinder));
}
[Test]
public void ApplyingHierarchicalDefaultSettingsToNodeWithClass() {
var mjcfString = @"<mujoco>
<default>
<geom type=""cylinder""/>
<default class=""child"">
<geom type=""box""/>
</default>
</default>
<worldbody>
<body childclass=""child"">
<geom name=""body_geom"" size='1 2 3'/>
</body>
</worldbody>
</mujoco>";
_sceneRoot = _importer.ImportString(
name: string.Empty, mjcfString: mjcfString);
var bodyGeom = _sceneRoot.GetComponentInChildren<MjGeom>();
Assert.That(bodyGeom.ShapeType, Is.EqualTo(MjShapeComponent.ShapeTypes.Box));
}
[Test]
public void ReadingOption() {
var mjcfString = @"<mujoco>
<option impratio='1.2345'/>
<worldbody/>
</mujoco>";
_sceneRoot = _importer.ImportString(
name: string.Empty, mjcfString: mjcfString);
var settings = _sceneRoot.GetComponentInChildren<MjGlobalSettings>();
Assert.That(settings.GlobalOptions.ImpRatio, Is.EqualTo(1.2345f));
}
[Test]
public void ReadingSize() {
var mjcfString = @"<mujoco>
<size njmax='1234'/>
<worldbody/>
</mujoco>";
_sceneRoot = _importer.ImportString(
name: string.Empty, mjcfString: mjcfString);
var settings = _sceneRoot.GetComponentInChildren<MjGlobalSettings>();
Assert.That(settings.GlobalSizes.Njmax, Is.EqualTo(1234));
}
[Test]
public void ReadingOptionAndSize() {
var mjcfString = @"<mujoco>
<option impratio='5.4321'/>
<size njmax='4321'/>
<worldbody/>
</mujoco>";
_sceneRoot = _importer.ImportString(
name: string.Empty, mjcfString: mjcfString);
var settings = _sceneRoot.GetComponentInChildren<MjGlobalSettings>();
Assert.That(settings.GlobalOptions.ImpRatio, Is.EqualTo(5.4321f));
Assert.That(settings.GlobalSizes.Njmax, Is.EqualTo(4321));
}
[Test]
public void ReadingOptionFlags() {
var mjcfString = @"<mujoco>
<option>
<flag gravity='disable' contact='disable' sensornoise='enable'/>
</option>
<worldbody/>
</mujoco>";
_sceneRoot = _importer.ImportString(
name: string.Empty, mjcfString: mjcfString);
var settings = _sceneRoot.GetComponentInChildren<MjGlobalSettings>();
Assert.That(settings.GlobalOptions.Flag.Gravity, Is.EqualTo(EnableDisableFlag.disable));
Assert.That(settings.GlobalOptions.Flag.Contact, Is.EqualTo(EnableDisableFlag.disable));
Assert.That(settings.GlobalOptions.Flag.SensorNoise, Is.EqualTo(EnableDisableFlag.enable));
}
[Test]
public void ParsedActuatorsAddedToDedicatedGameObjectAggregate() {
var mjcfString = @"<mujoco>
<worldbody>
<body>
<geom size='1'/>
<joint name='1'/>
</body>
</worldbody>
<actuator>
<motor joint='1'/>
</actuator>
</mujoco>";
_sceneRoot = _importer.ImportString(
name: string.Empty, mjcfString: mjcfString);
var actuator = _sceneRoot.GetComponentInChildren<MjActuator>();
Assert.That(actuator, Is.Not.Null);
Assert.That(actuator.transform.parent.gameObject.name, Is.EqualTo("actuators"));
}
[Test]
public void ParsedSensorsAddedToDedicatedGameObjectAggregate() {
var mjcfString = @"<mujoco>
<worldbody>
<body name='1'/>
</worldbody>
<sensor>
<framepos objtype='body' objname='1'/>
</sensor>
</mujoco>";
_sceneRoot = _importer.ImportString(
name: string.Empty, mjcfString: mjcfString);
var sensor = _sceneRoot.GetComponentInChildren<MjBaseSensor>();
Assert.That(sensor, Is.Not.Null);
Assert.That(sensor.transform.parent.gameObject.name, Is.EqualTo("sensors"));
}
[Test]
public void NodeHandlerCalledForMatchingelements() {
var mjcfString = @"<mujoco>
<worldbody>
<body>
<CustomTestNode/>
</body>
</worldbody>
</mujoco>";
var customImporter = new MjcfImporter();
bool ranCustomFunction = false;
customImporter.AddNodeHandler("CustomTestNode", (element, o) => {
ranCustomFunction = true;
});
var mjcfXml = new XmlDocument();
mjcfXml.LoadXml(mjcfString);
customImporter.ImportXml(mjcfXml);
Assert.That(ranCustomFunction, Is.True);
}
}
}
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