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100 lines
3.1 KiB
Python
100 lines
3.1 KiB
Python
import os
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import mujoco
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import pytest
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import gymnasium
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from gymnasium.envs.mujoco.mujoco_env import DEFAULT_SIZE
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from gymnasium.envs.mujoco.mujoco_rendering import MujocoRenderer, OffScreenViewer
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ASSET_PATH = os.path.join(
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os.path.dirname(__file__), "assets", "walker2d_v5_uneven_feet.xml"
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)
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DEFAULT_MAX_GEOMS = 1000
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class ExposedViewerRenderer(MujocoRenderer):
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"""Expose the viewer for testing to avoid warnings."""
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def get_viewer(self, render_mode: str):
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return self._get_viewer(render_mode)
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@pytest.fixture(scope="module")
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def model():
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"""Initialize a model."""
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model = mujoco.MjModel.from_xml_path(ASSET_PATH)
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model.vis.global_.offwidth = DEFAULT_SIZE
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model.vis.global_.offheight = DEFAULT_SIZE
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return model
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@pytest.fixture(scope="module")
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def data(model):
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"""Initialize data."""
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return mujoco.MjData(model)
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@pytest.mark.parametrize("width", [10, 100, 200, 480])
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@pytest.mark.parametrize("height", [10, 100, 200, 480])
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@pytest.mark.filterwarnings("ignore::UserWarning")
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def test_offscreen_viewer_custom_dimensions(
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model: mujoco.MjModel, data: mujoco.MjData, width: int, height: int
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):
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"""Test that the offscreen viewer has the correct dimensions."""
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# initialize viewer
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viewer = OffScreenViewer(model, data, width=width, height=height)
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# assert viewer dimensions
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assert viewer.viewport.width == width
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assert viewer.viewport.height == height
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# check that the render method returns an image of the correct shape
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img = viewer.render(render_mode="rgb_array")
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assert img.shape == (height, width, 3)
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# close viewer after usage
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viewer.close()
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@pytest.mark.parametrize("render_mode", ["human", "rgb_array", "depth_array"])
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@pytest.mark.parametrize("max_geom", [10, 100, 1000, 10000])
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def test_max_geom_attribute(
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model: mujoco.MjModel, data: mujoco.MjData, render_mode: str, max_geom: int
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):
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"""Test that the max_geom attribute is set correctly."""
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# initialize renderer
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renderer = ExposedViewerRenderer(
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model, data, width=DEFAULT_SIZE, height=DEFAULT_SIZE, max_geom=max_geom
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)
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# assert max_geom attribute
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assert renderer.max_geom == max_geom
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# initialize viewer via render
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viewer = renderer.get_viewer(render_mode)
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# assert that max_geom is set correctly in the viewer scene
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assert viewer.scn.maxgeom == max_geom
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# close viewer after usage
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viewer.close()
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@pytest.mark.parametrize("render_mode", ["human", "rgb_array", "depth_array"])
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def test_camera_id(render_mode: str):
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"""Assert that the camera_id parameter works correctly."""
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env_a = gymnasium.make("Ant-v5", camera_id=0, render_mode=render_mode).unwrapped
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env_b = gymnasium.make("Ant-v5", camera_id=0, render_mode=render_mode).unwrapped
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env_c = gymnasium.make("Ant-v5", camera_id=-1, render_mode=render_mode).unwrapped
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assert env_a.mujoco_renderer.camera_id == env_b.mujoco_renderer.camera_id
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assert env_a.mujoco_renderer.camera_id != env_c.mujoco_renderer.camera_id
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if render_mode != "human":
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assert (env_a.render() == env_b.render()).all()
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assert (env_a.render() != env_c.render()).any()
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