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Upstream: https://github.com/michaelgillett/mjlab Upstream-Commit: c19f713c415a699a79d71cd96aa13c3104a05047 Upstream-Branch: main
81 lines
2.4 KiB
Python
81 lines
2.4 KiB
Python
"""Tests for terrain configuration presets."""
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import mujoco
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import numpy as np
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import pytest
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import mjlab.terrains as terrain_gen
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from mjlab.terrains.config import (
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ALL_TERRAIN_PRESETS,
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ALL_TERRAINS_CFG,
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ROUGH_TERRAINS_CFG,
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STAIRS_TERRAINS_CFG,
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pyramid_stairs,
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terrain_preset,
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)
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from mjlab.terrains.terrain_generator import SubTerrainCfg
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def test_all_presets_return_sub_terrain_cfg():
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for name, fn in ALL_TERRAIN_PRESETS.items():
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cfg = fn(proportion=1.0)
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assert isinstance(cfg, SubTerrainCfg), (
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f"Preset {name!r} returned {type(cfg)}, expected SubTerrainCfg"
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)
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def test_preset_overrides():
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cfg = pyramid_stairs(proportion=0.5, step_width=0.5)
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assert cfg.proportion == 0.5
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assert cfg.step_width == 0.5
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# Default should still apply for unoverridden fields.
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assert cfg.platform_width == 3.0
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def test_rough_terrains_cfg_structure():
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assert ROUGH_TERRAINS_CFG.size == (8.0, 8.0)
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assert ROUGH_TERRAINS_CFG.num_rows == 10
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assert ROUGH_TERRAINS_CFG.num_cols == 20
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assert len(ROUGH_TERRAINS_CFG.sub_terrains) == 7
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total = sum(c.proportion for c in ROUGH_TERRAINS_CFG.sub_terrains.values())
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assert abs(total - 1.0) < 1e-6
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def test_stairs_terrains_cfg_structure():
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assert STAIRS_TERRAINS_CFG.curriculum is True
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assert len(STAIRS_TERRAINS_CFG.sub_terrains) == 4
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assert "flat" in STAIRS_TERRAINS_CFG.sub_terrains
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assert "easy_stairs" in STAIRS_TERRAINS_CFG.sub_terrains
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def test_all_terrains_cfg_matches_presets():
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assert set(ALL_TERRAINS_CFG.sub_terrains.keys()) == set(ALL_TERRAIN_PRESETS.keys())
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assert ALL_TERRAINS_CFG.num_cols == len(ALL_TERRAIN_PRESETS)
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def test_terrain_preset_decorator():
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"""Custom preset is registered in ALL_TERRAIN_PRESETS."""
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@terrain_preset
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def _test_custom(**overrides):
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return terrain_gen.BoxFlatTerrainCfg(**overrides)
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assert "_test_custom" in ALL_TERRAIN_PRESETS
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cfg = ALL_TERRAIN_PRESETS["_test_custom"](proportion=0.5)
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assert isinstance(cfg, SubTerrainCfg)
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assert cfg.proportion == 0.5
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# Clean up.
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del ALL_TERRAIN_PRESETS["_test_custom"]
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@pytest.mark.slow
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def test_all_presets_generate_terrain():
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"""Each preset can generate terrain without error."""
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for _name, fn in ALL_TERRAIN_PRESETS.items():
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cfg = fn(proportion=1.0, size=(4.0, 4.0))
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spec = mujoco.MjSpec()
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spec.worldbody.add_body(name="terrain")
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rng = np.random.default_rng(42)
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cfg.function(difficulty=0.5, spec=spec, rng=rng)
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