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2688 lines (2408 loc) · 87.5 KB
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// Copyright 2025 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.
import 'jasmine';
import {MainModule, MjContact, MjContactVec, MjData, MjLROpt, MjModel,
MjOption, MjsGeom, MjSolverStat, MjSpec, MjStatistic, MjTimerStat, MjvCamera,
MjvFigure, MjvGeom, MjvGLCamera, MjvLight, MjvOption, MjvPerturb, MjvScene,
MjWarningStat, MjVFS, Uint8Buffer} from '../dist/mujoco.js';
import loadMujoco from '../dist/mujoco.js'
function assertExists<T>(value: T | null | undefined, message?: string):
asserts value is T {
if (value === null || value === undefined) {
throw new Error(message ?? 'Expected value to be defined.');
}
}
// Corresponds to bindings_test.py:TEST_XML
const TEST_XML = `
<mujoco model="test">
<compiler coordinate="local" angle="radian" eulerseq="xyz"/>
<size nkey="2"/>
<option timestep="0.002" gravity="0 0 -9.81"/>
<visual>
<global fovy="50" />
<quality shadowsize="51" />
</visual>
<worldbody>
<geom name="myplane" type="plane" size="10 10 1" user="1 2 3"/>
<body name="mybox" pos="0 0 0.1">
<geom name="mybox" type="box" size="0.1 0.1 0.1" mass="0.25"/>
<freejoint name="myfree"/>
</body>
<body name="myhinge-body" pos="0 0 1">
<inertial pos="0 0 0" mass="1" diaginertia="1 1 1"/>
<site pos="0 0 -1" name="mysite" type="sphere"/>
<joint name="myhinge" type="hinge" axis="0 1 0" damping="1"/>
</body>
<body name="myball-body" pos="2 0 1">
<inertial pos="0 0 0" mass="1" diaginertia="1 1 1"/>
<joint name="myball" type="ball"/>
</body>
<body name="mocap-body" mocap="true" pos="42 0 42">
<geom name="mocap-sphere" type="sphere" size="0.1"/>
</body>
</worldbody>
<actuator>
<position name="myactuator" joint="myhinge"/>
</actuator>
<sensor>
<jointvel name="myjointvel" joint="myhinge"/>
<accelerometer name="myaccelerometer" site="mysite"/>
</sensor>
</mujoco>
`;
type TypedArray =|Int8Array|Uint8Array|Uint8ClampedArray|Int16Array|Uint16Array|
Int32Array|Uint32Array|Float32Array|Float64Array;
function norm(arr: number[]): number {
return Math.sqrt(arr.reduce((acc, val) => acc + val * val, 0));
}
function expectArraysClose(arr1: any, arr2: TypedArray, precision = 1) {
expect(arr1.length).toEqual(arr2.length);
for (let i = 0; i < arr1.length; i++) {
expect(arr1[i]).toBeCloseTo(arr2[i], precision);
}
}
function expectArraysEqual(arr1: any, arr2: TypedArray) {
expect(arr1.length).toEqual(arr2.length);
for (let i = 0; i < arr1.length; i++) {
expect(arr1[i]).toEqual(arr2[i]);
}
}
describe('MuJoCo WASM Bindings', () => {
let mujoco: MainModule;
let model: MjModel|null = null;
let data: MjData|null = null;
beforeAll(async () => {
mujoco = await loadMujoco();
});
function unlinkXMLFile(filename: string) {
try {
(mujoco as any).FS.unlink(filename);
} catch (e) {
console.warn(`Failed to unlink temporary XML file: ${e}`);
}
}
function writeXMLFile(filename: string, xmlContent: string) {
try {
(mujoco as any).FS.writeFile(filename, xmlContent);
} catch (e) {
throw new Error(`Failed to write temporary XML file: ${e}`);
}
}
beforeEach(() => {
const tempXmlFilename = '/tmp/model.xml';
writeXMLFile(tempXmlFilename, TEST_XML);
model = mujoco.MjModel!.mj_loadXML(tempXmlFilename);
if (!model) {
unlinkXMLFile(tempXmlFilename);
throw new Error('Failed to load model from XML');
}
unlinkXMLFile(tempXmlFilename);
data = new mujoco.MjData(model);
if (!data) {
throw new Error('Failed to create data from model');
}
});
afterEach(() => {
model?.delete();
data?.delete();
});
describe('Buffer API', () => {
it('should construct from an element count', () => {
const buf = new mujoco.DoubleBuffer(5);
expect(buf.GetElementCount()).toBe(5);
expect(buf.GetPointer()).toBeDefined();
expect(buf.GetView()).toBeDefined();
});
it('should construct from a Javascript array', () => {
const array: number[] = [0, 1, 4, 9, 16];
const buf = mujoco.DoubleBuffer.FromArray(array);
expect(buf.GetElementCount()).toBe(5);
expect(buf.GetPointer()).toBeDefined();
expect(buf.GetView()).toBeDefined();
expectArraysClose(buf.GetView(), new Float64Array(array));
});
it('should construct from Float64Array', () => {
const array = new Float64Array([1 / 11, 7 / 11]);
const buf = mujoco.DoubleBuffer.FromArray(array);
expect(buf.GetElementCount()).toBe(2);
expect(buf.GetPointer()).toBeDefined();
expect(buf.GetView()).toBeDefined();
expectArraysClose(buf.GetView(), array);
});
});
describe('mj_addM', () => {
let simpleModel: MjModel|null = null;
let simpleData: MjData|null = null;
const tempXmlFilename = '/tmp/simple_model.xml';
// A simpler model with nv=1 and nM=1 to avoid WASM binding bugs.
const simpleXmlContent = `
<mujoco>
<worldbody>
<body name="box" pos="0 0 0.5">
<joint type="slide" axis="1 0 0"/>
<geom type="box" size="0.1 0.1 0.1" mass="1"/>
</body>
</worldbody>
</mujoco>`;
beforeEach(() => {
writeXMLFile(tempXmlFilename, simpleXmlContent);
simpleModel = mujoco.MjModel!.mj_loadXML(tempXmlFilename);
assertExists(simpleModel);
simpleData = new mujoco.MjData(simpleModel);
assertExists(simpleData);
});
afterEach(() => {
simpleModel?.delete();
simpleData?.delete();
unlinkXMLFile(tempXmlFilename);
});
it('should compute the sparse inertia matrix', () => {
const nM = simpleModel!.nM;
const dstSparse = new mujoco.DoubleBuffer(nM);
try {
mujoco.mj_forward(simpleModel!, simpleData!);
mujoco.mj_addM(
simpleModel!, simpleData!, dstSparse, simpleModel!.M_rownnz,
simpleModel!.M_rowadr, simpleModel!.M_colind);
expect(dstSparse.GetView().length).toBe(1);
expect(dstSparse.GetView()[0]).toBeCloseTo(1.0);
} finally {
dstSparse.delete();
}
});
it('should throw an error for incorrect sparse matrix dimensions', () => {
const nM = simpleModel!.nM;
const dstSparse = new mujoco.DoubleBuffer(nM + 1);
try {
expect(
() => mujoco.mj_addM(
simpleModel!, simpleData!, dstSparse, simpleModel!.M_rownnz,
simpleModel!.M_rowadr, simpleModel!.M_colind))
.toThrowError(
'MuJoCo Error: [mj_addM] dst must have size 1, got 2');
} finally {
dstSparse.delete();
}
});
it('should compute the sparse inertia matrix with null pointers', () => {
const nM = simpleModel!.nM;
const dstSparse = new mujoco.DoubleBuffer(nM);
try {
mujoco.mj_forward(simpleModel!, simpleData!);
mujoco.mj_addM(simpleModel!, simpleData!, dstSparse, null, null, null);
expect(dstSparse.GetView().length).toBe(1);
} finally {
dstSparse.delete();
}
});
});
it('should compute geom distance without returning fromto', () => {
mujoco.mj_forward(model!, data!);
const dist = mujoco.mj_geomDistance(model!, data!, 0, 2, 200, null);
expect(dist).toEqual(41.9);
});
it('should handle box QP solver with null optionals', () => {
const n = 5;
const res = new mujoco.DoubleBuffer(n);
const r = new mujoco.DoubleBuffer(n * (n + 7));
const h = new mujoco.DoubleBuffer(n * n);
const g = mujoco.DoubleBuffer.FromArray(new Array(n).fill(1));
try {
for (let i = 0; i < n; i++) {
h.GetView()[i * (n + 1)] = 1;
}
const rank = mujoco.mju_boxQP(
res, r, null, h.GetView(), g.GetView(), null as any, null as any);
expect(rank).toBeGreaterThan(-1);
} finally {
res.delete();
r.delete();
h.delete();
g.delete();
}
});
// Corresponds to engine_core_constraint_test.cc:TEST_F(CoreConstraintTest,
// ConstraintUpdateImpl)
it('should correctly compute constraint cost', () => {
const xmlString = `
<mujoco>
<option>
<flag island="enable"/>
</option>
<default>
<geom size=".1"/>
</default>
<visual>
<headlight diffuse=".9 .9 .9"/>
</visual>
<worldbody>
<body>
<joint type="slide" axis="0 0 1" range="0 1" limited="true"/>
<geom/>
</body>
<body pos=".25 0 0">
<joint type="slide" axis="1 0 0"/>
<geom/>
</body>
<body pos="0 0 0.25">
<joint type="slide" axis="0 0 1"/>
<geom/>
<body pos="0 -.15 0">
<joint name="hinge1" axis="0 1 0"/>
<geom type="capsule" size="0.03" fromto="0 0 0 -.2 0 0"/>
<body pos="-.2 0 0">
<joint axis="0 1 0"/>
<geom type="capsule" size="0.03" fromto="0 0 0 -.2 0 0"/>
</body>
</body>
</body>
<body pos=".5 0 0">
<joint type="slide" axis="0 0 1" frictionloss="15"/>
<geom type="box" size=".08 .08 .02" euler="0 10 0"/>
</body>
<body pos="-.5 0 0">
<joint axis="0 1 0" frictionloss=".01"/>
<geom type="capsule" size="0.03" fromto="0 0 0 -.2 0 0"/>
</body>
<body pos="0 0 .5">
<joint name="hinge2" axis="0 1 0"/>
<geom type="box" size=".08 .02 .08"/>
</body>
<body pos=".5 0 .1">
<freejoint/>
<geom type="box" size=".03 .03 .03" pos="0.01 0.01 0.01"/>
</body>
<site name="0" pos="-.45 -.05 .35"/>
<body pos="-.5 0 .3" name="connect">
<freejoint/>
<geom type="box" size=".05 .05 .05"/>
<site name="1" pos=".05 -.05 .05"/>
</body>
</worldbody>
<equality>
<joint joint1="hinge1" joint2="hinge2"/>
<connect body1="connect" body2="world" anchor="-.05 -.05 .05"/>
<connect site1="0" site2="1"/>
</equality>
</mujoco>
`;
const tempXmlFilename = '/tmp/model_c.xml';
writeXMLFile(tempXmlFilename, xmlString);
const model = mujoco.MjModel!.mj_loadXML(tempXmlFilename);
expect(model).not.toBeNull();
const data = new mujoco.MjData(model!);
expect(data).not.toBeNull();
unlinkXMLFile(tempXmlFilename);
try {
mujoco.mj_resetData(model, data!);
let steps = 0;
while (data!.ncon === 0 && steps < 100) {
mujoco.mj_step(model!, data!);
steps++;
}
mujoco.mj_forward(model!, data!);
const res = new mujoco.DoubleBuffer(data!.nefc);
mujoco.mj_mulJacVec(model!, data!, res, data!.qacc);
mujoco.mju_subFrom(res, data!.efc_aref);
const cost = mujoco.DoubleBuffer.FromArray([0]);
mujoco.mj_constraintUpdate(
model!, data!, res.GetView(), cost, /*flg_coneHessian=*/ 1);
expect(cost.GetView()[0]).toBeCloseTo(3357.584);
res.delete();
cost.delete();
} finally {
data!.delete();
model!.delete();
}
});
it('should compute body jacobian', () => {
mujoco.mj_forward(model!, data!);
const bodyId =
mujoco.mj_name2id(model!, mujoco.mjtObj.mjOBJ_BODY.value, 'mybox');
const point = [0.1, 0.2, 0.3];
const jacp = new mujoco.DoubleBuffer(3 * model!.nv);
const jacr = new mujoco.DoubleBuffer(3 * model!.nv);
try {
mujoco.mj_jac(model!, data!, jacp, jacr, point, bodyId);
expect(norm(jacp.GetView())).toBeGreaterThan(0);
expect(norm(jacr.GetView())).toBeGreaterThan(0);
expect(() => mujoco.mj_jac(model!, data!, null, null, point, bodyId))
.not.toThrow();
} finally {
jacp.delete();
jacr.delete();
}
});
it('should compute body frame jacobian', () => {
mujoco.mj_forward(model!, data!);
const bodyId =
mujoco.mj_name2id(model!, mujoco.mjtObj.mjOBJ_BODY.value, 'mybox');
const jacp = new mujoco.DoubleBuffer(3 * model!.nv);
const jacr = new mujoco.DoubleBuffer(3 * model!.nv);
try {
mujoco.mj_jacBody(model!, data!, jacp, jacr, bodyId);
expect(norm(jacp.GetView())).toBeGreaterThan(0);
expect(norm(jacr.GetView())).toBeGreaterThan(0);
expect(() => mujoco.mj_jacBody(model!, data!, null, null, bodyId))
.not.toThrow();
} finally {
jacp.delete();
jacr.delete();
}
});
it('should compute body CoM jacobian', () => {
mujoco.mj_forward(model!, data!);
const bodyId =
mujoco.mj_name2id(model!, mujoco.mjtObj.mjOBJ_BODY.value, 'mybox');
const jacp = new mujoco.DoubleBuffer(3 * model!.nv);
const jacr = new mujoco.DoubleBuffer(3 * model!.nv);
try {
mujoco.mj_jacBodyCom(model!, data!, jacp, jacr, bodyId);
expect(norm(jacp.GetView())).toBeGreaterThan(0);
expect(norm(jacr.GetView())).toBeGreaterThan(0);
expect(() => mujoco.mj_jacBodyCom(model!, data!, null, null, bodyId))
.not.toThrow();
} finally {
jacp.delete();
jacr.delete();
}
});
it('should compute geom jacobian', () => {
mujoco.mj_forward(model!, data!);
const geomId =
mujoco.mj_name2id(model!, mujoco.mjtObj.mjOBJ_GEOM.value, 'mybox');
const jacp = new mujoco.DoubleBuffer(3 * model!.nv);
const jacr = new mujoco.DoubleBuffer(3 * model!.nv);
try {
mujoco.mj_jacGeom(model!, data!, jacp, jacr, geomId);
expect(norm(jacp.GetView())).toBeGreaterThan(0);
expect(norm(jacr.GetView())).toBeGreaterThan(0);
expect(() => mujoco.mj_jacGeom(model!, data!, null, null, geomId))
.not.toThrow();
} finally {
jacp.delete();
jacr.delete();
}
});
it('should compute point-axis jacobian', () => {
mujoco.mj_forward(model!, data!);
const bodyId =
mujoco.mj_name2id(model!, mujoco.mjtObj.mjOBJ_BODY.value, 'mybox');
const point = [0.1, 0.2, 0.3];
const axis = [0, 0, 1];
const jacPoint = new mujoco.DoubleBuffer(3 * model!.nv);
const jacAxis = new mujoco.DoubleBuffer(3 * model!.nv);
try {
mujoco.mj_jacPointAxis(
model!, data!, jacPoint, jacAxis, point, axis, bodyId);
expect(norm(jacPoint.GetView())).toBeGreaterThan(0);
expect(norm(jacAxis.GetView())).toBeGreaterThan(0);
expect(
() => mujoco.mj_jacPointAxis(
model!, data!, null, null, point, axis, bodyId))
.not.toThrow();
} finally {
jacPoint.delete();
jacAxis.delete();
}
});
it('should compute jacobian time derivative', () => {
mujoco.mj_forward(model!, data!);
const bodyId =
mujoco.mj_name2id(model!, mujoco.mjtObj.mjOBJ_BODY.value, 'mybox');
const point = [0.1, 0.2, 0.3];
const jacp = new mujoco.DoubleBuffer(3 * model!.nv);
const jacr = new mujoco.DoubleBuffer(3 * model!.nv);
try {
mujoco.mj_jacDot(model!, data!, jacp, jacr, point, bodyId);
expect(jacp.GetView().length).toBe(3 * model!.nv);
expect(jacr.GetView().length).toBe(3 * model!.nv);
expect(() => mujoco.mj_jacDot(model!, data!, null, null, point, bodyId))
.not.toThrow();
} finally {
jacp.delete();
jacr.delete();
}
});
it('should apply external force and torque', () => {
const force = [1, .5, 1];
const torque = [.3, 1, .22];
const point = [0, 0, 0];
const bodyId =
mujoco.mj_name2id(model!, mujoco.mjtObj.mjOBJ_BODY.value, 'mybox');
const qfrcTarget = new mujoco.DoubleBuffer(model!.nv);
try {
mujoco.mj_forward(model!, data!);
mujoco.mj_applyFT(
model!, data!, force, torque, point, bodyId, qfrcTarget);
expect(norm(qfrcTarget.GetView())).toBeGreaterThan(0);
qfrcTarget.GetView().fill(0);
mujoco.mj_applyFT(
model!, data!, null as any, null as any, point, bodyId, qfrcTarget);
expect(norm(qfrcTarget.GetView())).toEqual(0);
} finally {
qfrcTarget.delete();
}
});
it('should compute finite-differenced transition matrices', () => {
const eps = 1e-6;
const flg_centered = false;
const dim = 2 * model!.nv + model!.na;
const A = new mujoco.DoubleBuffer(dim * dim);
const B = new mujoco.DoubleBuffer(dim * model!.nu);
const C = new mujoco.DoubleBuffer(model!.nsensordata * dim);
const D = new mujoco.DoubleBuffer(model!.nsensordata * model!.nu);
try {
mujoco.mjd_transitionFD(model!, data!, eps, flg_centered, A, B, C, D);
expect(norm(A.GetView())).toBeGreaterThan(0);
expect(norm(B.GetView())).toBeGreaterThan(0);
expect(norm(C.GetView())).toBeGreaterThan(0);
expect(
() => mujoco.mjd_transitionFD(
model!, data!, eps, flg_centered, null, null, null, null))
.not.toThrow();
} finally {
A.delete();
B.delete();
C.delete();
D.delete();
}
});
it('should solve a system of linear equations', () => {
const n = 2;
const mat = [4, 1, 1, 3];
const vec = [1, 2];
const res = new mujoco.DoubleBuffer(n);
const expected = new Float64Array([1 / 11, 7 / 11]);
const matFactor = mujoco.DoubleBuffer.FromArray(mat);
try {
const rank = mujoco.mju_cholFactor(matFactor, 1e-9);
expect(rank).toBe(n);
mujoco.mju_cholSolve(res, matFactor.GetView(), vec);
const result = res.GetView();
expect(result[0]).toBeCloseTo(expected[0]);
expect(result[1]).toBeCloseTo(expected[1]);
} finally {
res.delete();
matFactor.delete();
}
});
it('should update a Cholesky factorization', () => {
const n = 2;
const mat = [4, 1, 1, 3];
const x = [1, 1];
const matFactor = mujoco.DoubleBuffer.FromArray(mat);
const xBuf = mujoco.DoubleBuffer.FromArray(x);
const res = new mujoco.DoubleBuffer(n);
try {
// Factorize original matrix.
mujoco.mju_cholFactor(matFactor, 1e-9);
// Update factorization with x.
const flg_plus = 1;
mujoco.mju_cholUpdate(matFactor, xBuf.GetView(), flg_plus);
// Solve a system with the updated factor to verify.
// A' = A + x*x' = [[5, 2], [2, 4]]
// A' * y = vec => [[5, 2], [2, 4]] * y = [7, 6]
// Solution is y = [1, 1].
const vec = [7, 6];
mujoco.mju_cholSolve(res, matFactor.GetView(), vec);
const result = res.GetView();
const expectedSolution = new Float64Array([1, 1]);
expect(result[0]).toBeCloseTo(expectedSolution[0]);
expect(result[1]).toBeCloseTo(expectedSolution[1]);
} finally {
matFactor.delete();
xBuf.delete();
res.delete();
}
});
it('should multiply a transposed matrix by another matrix', () => {
const r1 = 3, c1 = 2, c2 = 2;
const mat1 = mujoco.DoubleBuffer.FromArray([1, 4, 2, 5, 3, 6]);
const mat2 = mujoco.DoubleBuffer.FromArray([7, 8, 9, 10, 11, 12]);
const res = new mujoco.DoubleBuffer(c1 * c2);
const expected = new Float64Array([58, 64, 139, 154]);
try {
mujoco.mju_mulMatTMat(res, mat1.GetView(), mat2.GetView(), r1, c1, c2);
expectArraysClose(res.GetView(), expected);
} finally {
mat1.delete();
mat2.delete();
res.delete();
}
});
it('should throw an error because of incompatible matrix sizes', () => {
const r1 = 3, c1 = 2, c2 = 2;
const mat1 = mujoco.DoubleBuffer.FromArray([1, 4, 2, 5, 3, 6]);
const mat2 = mujoco.DoubleBuffer.FromArray([7, 8, 9, 10, 11]);
const res = new mujoco.DoubleBuffer(c1 * c2);
try {
expect(
() => mujoco.mju_mulMatTMat(
res, mat1.GetView(), mat2.GetView(), r1, c1, c2))
.toThrowError(
'MuJoCo Error: [mju_mulMatTMat] mat2 must have size 6, got 5');
} finally {
mat1.delete();
mat2.delete();
res.delete();
}
});
it('should convert a dense matrix to sparse and return non-zero count',
() => {
const nr = 2;
const nc = 3;
const mat = [0.0, 1.0, 0.0, 2.0, 0.0, 3.0];
const rownnz = new mujoco.IntBuffer(nr);
const rowadr = new mujoco.IntBuffer(nr);
const colind = new mujoco.IntBuffer(nc);
const res = new mujoco.DoubleBuffer(nc);
try {
const nnz =
mujoco.mju_dense2sparse(res, mat, nr, nc, rownnz, rowadr, colind);
expectArraysEqual(res.GetView(), new Float64Array([1.0, 2.0, 3.0]));
expectArraysEqual(rownnz.GetView(), new Int32Array([1, 2]));
expectArraysEqual(rowadr.GetView(), new Int32Array([0, 1]));
expectArraysEqual(colind.GetView(), new Int32Array([1, 0, 2]));
} finally {
res.delete();
rownnz.delete();
rowadr.delete();
colind.delete();
}
});
it('should convert a sparse matrix to a dense matrix', () => {
const nr = 2;
const nc = 3;
const mat = [1.0, 2.0, 3.0];
const rownnz = [1, 2];
const rowadr = [0, 1];
const colind = [1, 0, 2];
const res = new mujoco.DoubleBuffer(nr * nc);
const expected = new Float64Array([0.0, 1.0, 0.0, 2.0, 0.0, 3.0]);
try {
mujoco.mju_sparse2dense(res, mat, nr, nc, rownnz, rowadr, colind);
expectArraysEqual(res.GetView(), expected);
} finally {
res.delete();
}
});
it('should throw an error when mju_eye is called with a null argument', () => {
expect(() => {
mujoco.mju_eye(null as any);
})
.toThrowError(
'MuJoCo Error: [mju_eye] Invalid argument. Expected a TypedArray or WasmBuffer, got null.');
});
it('should return undefined', () => {
const spec = mujoco.parseXMLString(TEST_XML);
const body = mujoco.mjs_findBody(spec, 'some_name_that_doesnt_exist');
expect(body).toBeUndefined();
body?.delete();
spec?.delete();
});
it('should check constants values', () => {
expect(mujoco.mjNEQDATA).toBe(11);
expect(mujoco.mjDISABLESTRING).toEqual([
'Constraint', 'Equality', 'Frictionloss', 'Limit', 'Contact',
'Spring', 'Damper', 'Gravity', 'Clampctrl', 'Warmstart',
'Filterparent', 'Actuation', 'Refsafe', 'Sensor', 'Midphase',
'Eulerdamp', 'AutoReset', 'NativeCCD', 'Island', 'MultiCCD',
]);
expect(mujoco.mjRNDSTRING).toEqual([
['Shadow', '1', 'S'], ['Wireframe', '0', 'W'], ['Reflection', '1', 'R'],
['Additive', '0', 'L'], ['Skybox', '1', 'K'], ['Fog', '0', 'G'],
['Haze', '1', '/'], ['Depth', '0', ''], ['Segment', '0', ','],
['Id Color', '0', ''], ['Cull Face', '1', '']
]);
expect(mujoco.mjFRAMESTRING.length).toEqual(mujoco.mjtFrame.mjNFRAME.value);
expect(mujoco.mjVISSTRING.length)
.toEqual(mujoco.mjtVisFlag.mjNVISFLAG.value);
expect(mujoco.mjVISSTRING[mujoco.mjtVisFlag.mjVIS_INERTIA.value]).toEqual([
'Inertia', '0', 'I'
]);
});
it('should create a spec from XML', () => {
const spec = mujoco.parseXMLString(TEST_XML);
try {
expect(spec).toBeDefined();
expect(spec!.modelname).toEqual('test');
} finally {
spec?.delete();
}
});
it('should return the max value', () => {
expect(mujoco.mju_max(10, 2)).toEqual(10);
});
// Corresponds to bindings_test.py:test_mju_rotVecQuat
it('should rotate a vector by a quaternion', () => {
const res = mujoco.DoubleBuffer.FromArray([0, 0, 0]);
const vec = [1, 0, 0];
const angle = 7 * Math.PI / 12;
const quat = [Math.cos(angle), 0, 0, Math.sin(angle)];
const expected = new Float64Array([-0.8660377, -0.5, 0]);
try {
mujoco.mju_rotVecQuat(res, vec, quat);
expectArraysClose(res.GetView(), expected, 4);
} finally {
res.delete();
}
});
it('should get correct geom name', () => {
const spec = mujoco.parseXMLString(TEST_XML);
const geomEl =
mujoco.mjs_findElement(spec, mujoco.mjtObj.mjOBJ_GEOM, 'myplane');
try {
assertExists(geomEl);
const geom = mujoco.mjs_asGeom(geomEl);
assertExists(geom);
const geomName = mujoco.mjs_getName(geom.element);
expect(geomName).toEqual('myplane');
mujoco.mjs_setName(geom.element, 'myplane2');
expect(mujoco.mjs_getName(geom.element)).toEqual('myplane2');
} finally {
spec?.delete();
}
});
it('should override geom userdata', () => {
const spec = mujoco.parseXMLString(TEST_XML);
const geomEl =
mujoco.mjs_findElement(spec, mujoco.mjtObj.mjOBJ_GEOM, 'myplane');
try {
assertExists(geomEl);
const geom = mujoco.mjs_asGeom(geomEl);
assertExists(geom);
geom.userdata.set(0, 10);
expect(geom.userdata.get(0)).toEqual(10);
} finally {
spec.delete();
}
})
it('should override model geom_rgba', () => {
const newValues = new Float32Array([0.1, 0.2, 0.3, 0.4]);
model!.geom_rgba.set(newValues);
const expected = new Float32Array(
[0.1, 0.2, 0.3, 0.4, 0.5, 0.5, 0.5, 1, 0.5, 0.5, 0.5, 1]);
expectArraysClose(model!.geom_rgba, expected);
})
it('should add a scaled vector to another vector', () => {
const res = mujoco.DoubleBuffer.FromArray([1, 2, 3]);
const vec = [4, 5, 6];
const scale = 2;
const expected = new Float64Array([9, 12, 15]);
try {
mujoco.mju_addToScl(res, vec, scale);
expectArraysClose(res.GetView(), expected, 4);
} finally {
res.delete();
}
});
it('should throw an error when mju_addToScl is called with incompatible sizes',
() => {
const res = mujoco.DoubleBuffer.FromArray([1, 2, 3]);
const vec = [4, 5];
const scale = 2;
try {
expect(() => {
mujoco.mju_addToScl(res, vec, scale);
})
.toThrowError(
'MuJoCo Error: [mju_addToScl] res and vec must have equal size, got 3 and 2');
} finally {
res.delete();
}
});
it('should sort an array with insertion sort', () => {
const arr = mujoco.DoubleBuffer.FromArray([5, 2, 8, 1, 9]);
const expected = new Float64Array([1, 2, 5, 8, 9]);
try {
mujoco.mju_insertionSort(arr);
expectArraysEqual(arr.GetView(), expected);
} finally {
arr.delete();
}
});
it('should find the attached spec', () => {
const bXml = `
<mujoco>
<worldbody>
<body name="b" pos="0 0 0.1">
<geom rgba="0 .9 0 1" name="attached_geom_b" type="box" size="0.1 0.1 0.1" mass="0.25"/>
<freejoint name="bfree"/>
</body>
</worldbody>
</mujoco>
`;
const xmlWithAttachedSpec = `
<mujoco>
<asset>
<model name="b" file="b.xml" />
</asset>
<worldbody>
<attach model="b" body="b" prefix="b" />
</worldbody>
</mujoco>
`;
const mainXmlFilename = 'main.xml';
const bXmlFilename = 'b.xml';
writeXMLFile(mainXmlFilename, xmlWithAttachedSpec);
writeXMLFile(bXmlFilename, bXml);
const spec = mujoco.parseXMLString(xmlWithAttachedSpec);
const attachedSpec = mujoco.mjs_findSpec(spec, 'b');
try {
assertExists(attachedSpec);
const geomEl = mujoco.mjs_findElement(
attachedSpec, mujoco.mjtObj.mjOBJ_GEOM, 'attached_geom_b');
assertExists(geomEl);
const geom = mujoco.mjs_asGeom(geomEl);
expect(geom).toBeDefined();
expect(mujoco.mjs_getName(geom!.element)).toEqual('attached_geom_b');
} finally {
attachedSpec?.delete();
spec?.delete();
unlinkXMLFile(mainXmlFilename);
unlinkXMLFile(bXmlFilename);
}
});
// Corresponds to bindings_test.py:test_load_xml_can_handle_name_clash
it('should handle name clashes when loading XML with includes', () => {
const xml1 = `
<mujoco>
<worldbody>
<geom name="plane" type="plane" size="1 1 1"/>
<include file="model_.xml"/>
<include file="model__.xml"/>
</worldbody>
</mujoco>
`;
const xml2 = `<mujoco><geom name="box" type="box" size="1 1 1"/></mujoco>`;
const xml3 = `<mujoco><geom name="ball" type="sphere" size="1"/></mujoco>`;
const modelXmlFilename = 'model.xml';
const model1XmlFilename = 'model_.xml';
const model2XmlFilename = 'model__.xml';
writeXMLFile(modelXmlFilename, xml1);
writeXMLFile(model1XmlFilename, xml2);
writeXMLFile(model2XmlFilename, xml3);
const model = mujoco.MjModel!.mj_loadXML(modelXmlFilename);
try {
expect(model).toBeDefined();
expect(mujoco.mj_name2id(model!, mujoco.mjtObj.mjOBJ_GEOM.value, 'plane'))
.toBe(0);
expect(mujoco.mj_name2id(model!, mujoco.mjtObj.mjOBJ_GEOM.value, 'box'))
.toBe(1);
expect(mujoco.mj_name2id(model!, mujoco.mjtObj.mjOBJ_GEOM.value, 'ball'))
.toBe(2);
} finally {
model?.delete();
unlinkXMLFile(modelXmlFilename);
unlinkXMLFile(model1XmlFilename);
unlinkXMLFile(model2XmlFilename);
}
});
// Corresponds to bindings_test.py:test_can_read_array
it('should read an array from the model', () => {
const expected =
new Float64Array([0, 0, 0, 0, 0, 0.1, 0, 0, 1, 2, 0, 1, 42, 0, 42]);
const bodyPos = new Float64Array(model!.body_pos);
expectArraysEqual(bodyPos, expected);
});
// Corresponds to bindings_test.py:test_can_set_array
it('should set an array from the data', () => {
const value = 0.12345;
data!.qpos.fill(value);
const expected = new Float64Array(data!.qpos.length).fill(value);
expectArraysEqual(data!.qpos, expected);
});
// Corresponds to bindings_test.py:test_array_is_a_view
it('should check that array is a view', () => {
const qposRef = data!.qpos;
const value = 0.789;
data!.qpos.fill(value);
const expected = new Float64Array(data!.qpos.length).fill(value);
expectArraysEqual(qposRef, expected);
});
// Corresponds to bindings_test.py:test_mjmodel_can_read_and_write_opt
it('should read and write MjOption', () => {
expect(model!.opt.timestep).toEqual(0.002);
expectArraysEqual(model!.opt.gravity, new Float64Array([0, 0, -9.81]));
const optRef = model!.opt;
model!.opt.timestep = 0.001;
expect(optRef.timestep).toEqual(0.001);
const gravityRef = optRef.gravity;
model!.opt.gravity[1] = 0.1;
expectArraysEqual(gravityRef, new Float64Array([0, 0.1, -9.81]));
model!.opt.gravity.fill(0.2);
expectArraysEqual(gravityRef, new Float64Array([0.2, 0.2, 0.2]));
});
// Corresponds to bindings_test.py:test_mjmodel_can_read_and_write_stat
it('should read and write MjStat', () => {
expect(model!.stat.meanmass).not.toEqual(0);
const statRef = model!.stat;
model!.stat.meanmass = 1.2;
expect(statRef.meanmass).toEqual(1.2);
});
// Corresponds to bindings_test.py:test_mjmodel_can_read_and_write_vis
it('should read and write MjVis', () => {
expect(model!.vis.quality.shadowsize).toEqual(51);
const visRef = model!.vis;
model!.vis.quality.shadowsize = 100;
expect(visRef.quality.shadowsize).toEqual(100);
});
// Corresponds to bindings_test.py:test_mjmodel_can_access_names_directly
it('should access names directly from the model', () => {
const modelName = new TextDecoder().decode(
model!.names.slice(0, model!.names.indexOf(0)));
expect(modelName).toEqual('test');
const startGeomNameIndex = model!.name_geomadr[0];
const endGeomNameIndex = model!.names.indexOf(0, startGeomNameIndex);
const geomName = new TextDecoder().decode(
model!.names.slice(startGeomNameIndex, endGeomNameIndex));
expect(geomName).toEqual('myplane');
});
// Corresponds to bindings_test.py:test_mjmodel_names_doesnt_copy
it('should not copy names when accessing them multiple times', () => {
const names1 = model!.names;
const names2 = model!.names;
expect(names1).toEqual(names2);
});
// Corresponds to bindings_test.py:test_mjoption_can_make_default
it('should create a default MjOption', () => {
const opt = new mujoco.MjOption();
expect(opt.timestep).toEqual(0.002);
expectArraysEqual(opt.gravity, new Float64Array([0, 0, -9.81]));
});
// Corresponds to bindings_test.py:test_mjoption_can_copy
it('should copy MjOption', () => {
const opt1 = new mujoco.MjOption();
opt1.timestep = 0.001;
opt1.gravity.set([2, 2, 2]);
const opt2 = opt1.copy();
expect(opt2.timestep).toEqual(0.001);
expectArraysEqual(opt2.gravity, new Float64Array([2, 2, 2]));
opt1.timestep = 0.005;
opt1.gravity.set([5, 5, 5]);
expect(opt2.timestep).toEqual(0.001);
expectArraysEqual(opt2.gravity, new Float64Array([2, 2, 2]));