"""Tests for XML actuator wrappers."""
import mujoco
import pytest
from conftest import get_test_device
from mjlab.actuator import XmlActuator, XmlActuatorCfg
from mjlab.entity import Entity, EntityArticulationInfoCfg, EntityCfg
from mjlab.envs import ManagerBasedRlEnv, ManagerBasedRlEnvCfg, mdp
from mjlab.managers.observation_manager import ObservationGroupCfg, ObservationTermCfg
from mjlab.scene import SceneCfg
from mjlab.sim import MujocoCfg, SimulationCfg
from mjlab.terrains import TerrainEntityCfg
# Robot with 2 joints but only 1 actuator defined (underactuated).
ROBOT_XML_UNDERACTUATED = """
"""
@pytest.fixture(scope="module")
def device():
return get_test_device()
def test_xml_actuator_underactuated_with_wildcard():
"""XmlActuator filters to joints with XML actuators when using wildcard."""
cfg = EntityCfg(
spec_fn=lambda: mujoco.MjSpec.from_string(ROBOT_XML_UNDERACTUATED),
articulation=EntityArticulationInfoCfg(
actuators=(XmlActuatorCfg(target_names_expr=(".*",)),)
),
)
entity = Entity(cfg)
entity.compile()
# Should only control joint2 (which has an XML actuator), not joint1.
assert len(entity._actuators) == 1
actuator = entity._actuators[0]
assert actuator._target_names == ["joint2"]
def test_xml_actuator_no_matching_actuators_raises_error():
"""XmlActuator raises error when no targets have matching XML actuators."""
with pytest.raises(
ValueError, match="No XML actuators found for any targets matching the patterns"
):
cfg = EntityCfg(
spec_fn=lambda: mujoco.MjSpec.from_string(ROBOT_XML_UNDERACTUATED),
articulation=EntityArticulationInfoCfg(
actuators=(XmlActuatorCfg(target_names_expr=("joint1",)),)
),
)
entity = Entity(cfg)
entity.compile()
def test_joint_action_underactuated_with_wildcard(device):
"""JointAction with wildcard pattern matches only actuated joints."""
robot_cfg = EntityCfg(
spec_fn=lambda: mujoco.MjSpec.from_string(ROBOT_XML_UNDERACTUATED),
articulation=EntityArticulationInfoCfg(
actuators=(XmlActuatorCfg(target_names_expr=(".*",)),)
),
)
env_cfg = ManagerBasedRlEnvCfg(
scene=SceneCfg(
terrain=TerrainEntityCfg(terrain_type="plane"),
num_envs=1,
extent=1.0,
entities={"robot": robot_cfg},
),
observations={
"actor": ObservationGroupCfg(
terms={
"joint_pos": ObservationTermCfg(
func=lambda env: env.scene["robot"].data.joint_pos
),
},
),
},
actions={
"joint_effort": mdp.JointEffortActionCfg(
entity_name="robot", actuator_names=(".*",), scale=1.0
)
},
sim=SimulationCfg(mujoco=MujocoCfg(timestep=0.01, iterations=1)),
decimation=1,
episode_length_s=1.0,
)
env = ManagerBasedRlEnv(cfg=env_cfg, device=device)
action_term = env.action_manager._terms["joint_effort"]
assert isinstance(action_term, mdp.JointEffortAction)
# Wildcard should resolve to only actuated joint (joint2), not all joints.
assert action_term.action_dim == 1
assert action_term.target_names == ["joint2"]
assert action_term.target_ids.tolist() == [1]
env.close()
# Robot with a "general" actuator (hand-tuned gainprm/biasprm that don't match
# any standard pattern). Strict auto-detection would reject this.
ROBOT_XML_GENERAL_ACTUATOR = """
"""
def test_xml_actuator_explicit_command_field_bypasses_detection():
"""Explicit command_field allows non-standard XML actuators."""
cfg = EntityCfg(
spec_fn=lambda: mujoco.MjSpec.from_string(ROBOT_XML_GENERAL_ACTUATOR),
articulation=EntityArticulationInfoCfg(
actuators=(
XmlActuatorCfg(
target_names_expr=("joint1",),
command_field="effort",
),
)
),
)
entity = Entity(cfg)
entity.compile()
actuator = entity._actuators[0]
assert isinstance(actuator, XmlActuator)
assert actuator.command_field == "effort"
assert actuator._target_names == ["joint1"]
def test_xml_actuator_auto_detection_rejects_general_actuator():
"""Auto-detection raises for non-standard actuators when command_field is None."""
with pytest.raises(ValueError, match="Cannot determine command field"):
cfg = EntityCfg(
spec_fn=lambda: mujoco.MjSpec.from_string(ROBOT_XML_GENERAL_ACTUATOR),
articulation=EntityArticulationInfoCfg(
actuators=(XmlActuatorCfg(target_names_expr=("joint1",)),)
),
)
entity = Entity(cfg)
entity.compile()