69 lines
2.3 KiB
Python
69 lines
2.3 KiB
Python
|
# Copyright 2017 The dm_control Authors.
|
||
|
|
#
|
||
|
|
# 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.
|
||
|
|
# ============================================================================
|
||
|
|
|
||
|
|
"""Tests for parse_amc utility."""
|
||
|
|
|
||
|
|
from __future__ import absolute_import
|
||
|
|
from __future__ import division
|
||
|
|
from __future__ import print_function
|
||
|
|
|
||
|
|
import os
|
||
|
|
|
||
|
|
# Internal dependencies.
|
||
|
|
|
||
|
|
from absl.testing import absltest
|
||
|
|
from local_dm_control_suite import humanoid_CMU
|
||
|
|
from dm_control.suite.utils import parse_amc
|
||
|
|
|
||
|
|
from dm_control.utils import io as resources
|
||
|
|
|
||
|
|
_TEST_AMC_PATH = resources.GetResourceFilename(
|
||
|
|
os.path.join(os.path.dirname(__file__), '../demos/zeros.amc'))
|
||
|
|
|
||
|
|
|
||
|
|
class ParseAMCTest(absltest.TestCase):
|
||
|
|
|
||
|
|
def test_sizes_of_parsed_data(self):
|
||
|
|
|
||
|
|
# Instantiate the humanoid environment.
|
||
|
|
env = humanoid_CMU.stand()
|
||
|
|
|
||
|
|
# Parse and convert specified clip.
|
||
|
|
converted = parse_amc.convert(
|
||
|
|
_TEST_AMC_PATH, env.physics, env.control_timestep())
|
||
|
|
|
||
|
|
self.assertEqual(converted.qpos.shape[0], 63)
|
||
|
|
self.assertEqual(converted.qvel.shape[0], 62)
|
||
|
|
self.assertEqual(converted.time.shape[0], converted.qpos.shape[1])
|
||
|
|
self.assertEqual(converted.qpos.shape[1],
|
||
|
|
converted.qvel.shape[1] + 1)
|
||
|
|
|
||
|
|
# Parse and convert specified clip -- WITH SMALLER TIMESTEP
|
||
|
|
converted2 = parse_amc.convert(
|
||
|
|
_TEST_AMC_PATH, env.physics, 0.5 * env.control_timestep())
|
||
|
|
|
||
|
|
self.assertEqual(converted2.qpos.shape[0], 63)
|
||
|
|
self.assertEqual(converted2.qvel.shape[0], 62)
|
||
|
|
self.assertEqual(converted2.time.shape[0], converted2.qpos.shape[1])
|
||
|
|
self.assertEqual(converted.qpos.shape[1],
|
||
|
|
converted.qvel.shape[1] + 1)
|
||
|
|
|
||
|
|
# Compare sizes of parsed objects for different timesteps
|
||
|
|
self.assertEqual(converted.qpos.shape[1] * 2, converted2.qpos.shape[1])
|
||
|
|
|
||
|
|
|
||
|
|
if __name__ == '__main__':
|
||
|
|
absltest.main()
|