# Copyright 2019 The dm_control Authors.

#

# 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.

# ============================================================================

"""Tests for locomotion.arenas.floors."""

from absl.testing import absltest

from dm_control import mjcf

from dm_control.locomotion.arenas import floors

import numpy as np

class FloorsTest(absltest.TestCase):

def test_can_compile_mjcf(self):

arena = floors.Floor()

mjcf.Physics.from_mjcf_model(arena.mjcf_model)

def test_size(self):

floor_size = (12.9, 27.1)

arena = floors.Floor(size=floor_size)

self.assertEqual(tuple(arena.ground_geoms[0].size[:2]), floor_size)

def test_top_camera(self):

floor_width, floor_height = 12.9, 27.1

arena = floors.Floor(size=[floor_width, floor_height])

self.assertGreater(arena._top_camera_y_padding_factor, 1)

np.testing.assert_array_equal(arena._top_camera.quat, (1, 0, 0, 0))

expected_camera_y = floor_height * arena._top_camera_y_padding_factor

np.testing.assert_allclose(

np.tan(np.deg2rad(arena._top_camera.fovy / 2)),

expected_camera_y / arena._top_camera.pos[2])

if __name__ == '__main__':

absltest.main()