69 lines
2.3 KiB
Python
Executable File
69 lines
2.3 KiB
Python
Executable File
# Copyright 2017 The dm_control Authors.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ============================================================================
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"""Tests for parse_amc utility."""
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from __future__ import absolute_import
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from __future__ import division
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from __future__ import print_function
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import os
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# Internal dependencies.
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from absl.testing import absltest
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from local_dm_control_suite import humanoid_CMU
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from dm_control.suite.utils import parse_amc
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from dm_control.utils import io as resources
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_TEST_AMC_PATH = resources.GetResourceFilename(
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os.path.join(os.path.dirname(__file__), '../demos/zeros.amc'))
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class ParseAMCTest(absltest.TestCase):
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def test_sizes_of_parsed_data(self):
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# Instantiate the humanoid environment.
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env = humanoid_CMU.stand()
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# Parse and convert specified clip.
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converted = parse_amc.convert(
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_TEST_AMC_PATH, env.physics, env.control_timestep())
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self.assertEqual(converted.qpos.shape[0], 63)
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self.assertEqual(converted.qvel.shape[0], 62)
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self.assertEqual(converted.time.shape[0], converted.qpos.shape[1])
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self.assertEqual(converted.qpos.shape[1],
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converted.qvel.shape[1] + 1)
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# Parse and convert specified clip -- WITH SMALLER TIMESTEP
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converted2 = parse_amc.convert(
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_TEST_AMC_PATH, env.physics, 0.5 * env.control_timestep())
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self.assertEqual(converted2.qpos.shape[0], 63)
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self.assertEqual(converted2.qvel.shape[0], 62)
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self.assertEqual(converted2.time.shape[0], converted2.qpos.shape[1])
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self.assertEqual(converted.qpos.shape[1],
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converted.qvel.shape[1] + 1)
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# Compare sizes of parsed objects for different timesteps
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self.assertEqual(converted.qpos.shape[1] * 2, converted2.qpos.shape[1])
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if __name__ == '__main__':
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absltest.main()
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