generated from tpl/purs
253 lines
9.4 KiB
Plaintext
253 lines
9.4 KiB
Plaintext
module Test.Mujoco.MJCF where
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import Prelude
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import Control.Monad.Error.Class (try)
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import Data.Either (isLeft)
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import Data.Tuple.Nested ((/\))
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import Effect.Aff (Aff)
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import Effect.Class (liftEffect)
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import Mujoco.MJCF as X
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import Mujoco.MJCF.Geom as X.G
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import Mujoco.Wasm (renderSpec)
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import Mujoco.XML.Node (Node)
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import Mujoco.XML.Node as XML
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import Test.Assert (assertTrue)
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import Test.Spec (Spec, describe, it)
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ok :: Node -> Aff Unit
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ok = void <<< renderSpec
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fail :: Node -> Aff Unit
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fail = (liftEffect <<< assertTrue <<< isLeft) <=< (try <<< renderSpec)
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w :: forall a. XML.Children a => a -> Node
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w = X.mujoco {} <<< X.worldbody {}
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spec :: Spec Unit
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spec =
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describe "MJCF" do
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it "</>" $ fail $ X.empty
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it "<mujoco>" $ ok $ X.mujoco {} unit
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it "<worldbody>" $ ok $ X.mujoco {} $ X.worldbody {} unit
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describe "compiler" do
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it "empty" $ ok $ X.mujoco {}
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[ X.compiler {}
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, X.worldbody {} unit
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]
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it "angle=radian" $ ok $ X.mujoco {}
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[ X.compiler { angle: X.Radian }
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, X.worldbody {} unit
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]
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it "autolimits + coordinate" $ ok $ X.mujoco {}
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[ X.compiler { autolimits: true, coordinate: X.Local }
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, X.worldbody {} unit
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]
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it "inertiafromgeom=auto" $ ok $ X.mujoco {}
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[ X.compiler { inertiafromgeom: X.InertiaFromGeomAuto }
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, X.worldbody {} unit
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]
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it "boundmass + boundinertia" $ ok $ X.mujoco {}
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[ X.compiler { boundmass: 0.01, boundinertia: 0.001 }
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, X.worldbody {} unit
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]
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describe "size" do
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it "empty" $ ok $ X.mujoco {}
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[ X.size {}
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, X.worldbody {} unit
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]
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it "memory" $ ok $ X.mujoco {}
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[ X.size { memory: "16M" }
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, X.worldbody {} unit
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]
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it "nuser fields" $ ok $ X.mujoco {}
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[ X.size { nuser_body: 2, nuser_jnt: 1, nuser_geom: 3 }
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, X.worldbody {} unit
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]
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describe "option" do
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it "timestep + integrator" $ ok $ X.mujoco {}
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[ X.option { timestep: 0.001, integrator: X.RK4 } unit
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, X.worldbody {} unit
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]
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it "gravity + solver" $ ok $ X.mujoco {}
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[ X.option { gravity: 0.0 /\ 0.0 /\ (-9.81), solver: X.Newton } unit
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, X.worldbody {} unit
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]
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describe "statistic" do
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it "extent + center" $ ok $ X.mujoco {}
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[ X.statistic { extent: 2.0, center: 0.0 /\ 0.0 /\ 1.0 }
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, X.worldbody {} unit
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]
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describe "asset" do
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describe "mesh" do
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it "inline vertex" $ ok $ X.mujoco {}
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[ X.asset {}
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[ X.mesh { name: "tetra", vertex: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0] } unit ]
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, X.worldbody {} unit
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]
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describe "hfield" do
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it "nrow + ncol + size" $ ok $ X.mujoco {}
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[ X.asset {}
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[ X.hfield { name: "terrain", nrow: 10, ncol: 10, size: 1.0 /\ 1.0 /\ 0.5 /\ 0.1 } ]
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, X.worldbody {} unit
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]
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describe "texture" do
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it "procedural checker" $ ok $ X.mujoco {}
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[ X.asset {}
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[ X.texture
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{ name: "grid"
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, type: X.Texture2d
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, builtin: X.BuiltinChecker
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, width: 512
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, height: 512
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, rgb1: 0.9 /\ 0.9 /\ 0.9
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, rgb2: 0.1 /\ 0.1 /\ 0.1
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}
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]
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, X.worldbody {} unit
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]
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describe "material" do
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it "rgba + specular" $ ok $ X.mujoco {}
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[ X.asset {}
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[ X.material { name: "mat1", rgba: 0.8 /\ 0.2 /\ 0.2 /\ 1.0, specular: 0.8 } unit ]
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, X.worldbody {} unit
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]
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describe "body" do
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describe "joint" do
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it "hinge" $ ok $ w $
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X.body { name: "b1", pos: 0.0 /\ 0.0 /\ 0.5 }
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[ X.joint { type: X.Hinge, axis: 1.0 /\ 0.0 /\ 0.0 }
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, X.geom { type: X.G.Sphere, size: [0.1, 0.0, 0.0] } unit
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]
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it "slide with range" $ ok $ w $
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X.body { name: "slider", pos: 0.0 /\ 0.0 /\ 1.0 }
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[ X.joint { type: X.Slide, axis: 0.0 /\ 0.0 /\ 1.0, range: (-1.0) /\ 1.0, limited: X.AutoBoolTrue }
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, X.geom { type: X.G.Box, size: [0.1, 0.1, 0.1] } unit
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]
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it "stiffness + damping" $ ok $ w $
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X.body { pos: 0.0 /\ 0.0 /\ 0.0 }
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[ X.joint { type: X.Hinge, stiffness: 100.0, damping: 10.0, armature: 0.1 }
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, X.geom { type: X.G.Sphere, size: [0.05, 0.0, 0.0] } unit
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]
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describe "freejoint" do
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it "basic" $ ok $ w $
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X.body { name: "free_body", pos: 0.0 /\ 0.0 /\ 1.0 }
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[ X.freejoint { name: "fj" }
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, X.geom { type: X.G.Sphere, size: [0.1, 0.0, 0.0] } unit
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]
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describe "geom" do
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it "sphere" $ ok $ w $
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X.geom { type: X.G.Sphere, size: [1.0, 0.0, 0.0] } unit
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it "capsule fromto" $ ok $ w $
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X.geom { type: X.G.Capsule, fromto: [0.0, 0.0, 0.0, 0.0, 0.0, 1.0], size: [0.05, 0.0, 0.0] } unit
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it "box with material" $ ok $ X.mujoco {}
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[ X.asset {}
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[ X.material { name: "red", rgba: 1.0 /\ 0.0 /\ 0.0 /\ 1.0 } unit ]
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, X.worldbody {} $
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X.geom { type: X.G.Box, size: [0.5, 0.5, 0.5], material: "red" } unit
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]
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it "plane" $ ok $ w $
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X.geom { type: X.G.Plane, size: [5.0, 5.0, 0.1] } unit
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it "friction + density" $ ok $ w $
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X.geom { type: X.G.Sphere, size: [0.1, 0.0, 0.0], friction: 0.5 /\ 0.005 /\ 0.0001, density: 500.0 } unit
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describe "site" do
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it "basic" $ ok $ w $
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X.body { pos: 0.0 /\ 0.0 /\ 0.0 }
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[ X.geom { type: X.G.Sphere, size: [0.1, 0.0, 0.0] } unit
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, X.site { name: "s1", pos: 0.0 /\ 0.0 /\ 0.1, size: 0.01 /\ 0.01 /\ 0.01 }
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]
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describe "camera" do
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it "fixed" $ ok $ w $
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X.camera { name: "cam1", pos: 0.0 /\ (-2.0) /\ 1.0, fovy: 60.0 }
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it "tracking" $ ok $ w $
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X.body { name: "target_body", pos: 0.0 /\ 0.0 /\ 0.5 }
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[ X.geom { type: X.G.Sphere, size: [0.1, 0.0, 0.0] } unit
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, X.camera { name: "tracker", mode: X.CamTargetbody, target: "target_body", pos: 1.0 /\ 0.0 /\ 0.5 }
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]
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describe "light" do
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it "spotlight" $ ok $ w $
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X.light { name: "spot1", pos: 0.0 /\ 0.0 /\ 3.0, dir: 0.0 /\ 0.0 /\ (-1.0), diffuse: 1.0 /\ 1.0 /\ 1.0 }
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it "directional" $ ok $ w $
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X.light { name: "sun", type: X.LightDirectional, dir: 0.0 /\ (-1.0) /\ (-1.0), castshadow: true }
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describe "inertial" do
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it "explicit mass + diaginertia" $ ok $ w $
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X.body { pos: 0.0 /\ 0.0 /\ 0.0 }
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[ X.inertial { pos: 0.0 /\ 0.0 /\ 0.0, mass: 1.0, diaginertia: 0.01 /\ 0.01 /\ 0.01 }
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, X.geom { type: X.G.Sphere, size: [0.1, 0.0, 0.0] } unit
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]
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describe "composite" do
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it "full model"
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$ ok
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$ X.mujoco { model: "test" }
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[ X.compiler { angle: X.Radian, inertiafromgeom: X.InertiaFromGeomTrue }
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, X.option { timestep: 0.002, gravity: 0.0 /\ 0.0 /\ (-9.81) }
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[ X.flag { contact: X.Enable } ]
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, X.asset {}
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[ X.texture { name: "grid", type: X.Texture2d, builtin: X.BuiltinChecker, width: 256, height: 256, rgb1: 0.9 /\ 0.9 /\ 0.9, rgb2: 0.1 /\ 0.1 /\ 0.1 }
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, X.material { name: "floor_mat", texture: "grid", texrepeat: 5.0 /\ 5.0 } unit
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]
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, X.worldbody {}
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[ X.geom { type: X.G.Plane, size: [5.0, 5.0, 0.1], material: "floor_mat" } unit
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, X.light { name: "top", pos: 0.0 /\ 0.0 /\ 3.0, dir: 0.0 /\ 0.0 /\ (-1.0) }
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, X.body { name: "ball", pos: 0.0 /\ 0.0 /\ 1.0 }
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[ X.freejoint {}
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, X.geom { type: X.G.Sphere, size: [0.1, 0.0, 0.0], rgba: 1.0 /\ 0.0 /\ 0.0 /\ 1.0 } unit
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]
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]
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]
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it "bodies with joints" $ ok $ w
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[ X.light { name: "top", pos: 0.0 /\ 0.0 /\ 1.0 }
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, X.body {}
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[ X.joint { name: "v0_rx", damping: 1.0, stiffness: 10.0, axis: 1.0 /\ 0.0 /\ 0.0, pos: 0.0 /\ 0.0 /\ (-0.5) }
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, X.joint { name: "v0_ry", damping: 1.0, stiffness: 10.0, axis: 0.0 /\ 1.0 /\ 0.0, pos: 0.0 /\ 0.0 /\ (-0.5) }
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, X.geom { type: X.G.Cylinder, size: [1.0, 0.05] } unit
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, X.body { pos: zero /\ zero /\ 0.51 }
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[ X.joint { name: "b0a_rx", damping: 1.0, stiffness: 10.0, axis: 1.0 /\ 0.0 /\ 0.0, pos: 0.0 /\ 0.0 /\ (-0.5) }
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, X.joint { name: "b0a_ry", damping: 1.0, stiffness: 10.0, axis: 0.0 /\ 1.0 /\ 0.0, pos: 0.0 /\ 0.0 /\ (-0.5) }
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, X.geom { type: X.G.Cylinder, size: [0.05, 0.5] } unit
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, X.body { pos: zero /\ zero /\ one }
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[ X.joint { name: "b0b_rx", damping: 1.0, stiffness: 10.0, axis: 1.0 /\ 0.0 /\ 0.0, pos: 0.0 /\ 0.0 /\ (-0.5) }
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, X.joint { name: "b0b_ry", damping: 1.0, stiffness: 10.0, axis: 0.0 /\ 1.0 /\ 0.0, pos: 0.0 /\ 0.0 /\ (-0.5) }
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, X.geom { type: X.G.Cylinder, size: [0.05, 0.5] } unit
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, X.body { pos: zero /\ zero /\ 0.5 }
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[ X.joint { name: "v1_rx", damping: 1.0, stiffness: 10.0, axis: 1.0 /\ 0.0 /\ 0.0, pos: 0.0 /\ 0.0 /\ (-0.5) }
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, X.joint { name: "v1_ry", damping: 1.0, stiffness: 10.0, axis: 0.0 /\ 1.0 /\ 0.0, pos: 0.0 /\ 0.0 /\ (-0.5) }
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, X.geom { type: X.G.Cylinder, size: [1.0, 0.05] } unit
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]
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]
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]
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]
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]
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