# 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.mazes."""

from absl.testing import absltest

from dm_control import mjcf

from dm_control.locomotion.arenas import labmaze_textures

from dm_control.locomotion.arenas import mazes

class MazesTest(absltest.TestCase):

def test_can_compile_mjcf(self):

# Set the wall and floor textures to match DMLab and set the skybox.

skybox_texture = labmaze_textures.SkyBox(style='sky_03')

wall_textures = labmaze_textures.WallTextures(style='style_01')

floor_textures = labmaze_textures.FloorTextures(style='style_01')

arena = mazes.RandomMazeWithTargets(

x_cells=11,

y_cells=11,

xy_scale=3,

max_rooms=4,

room_min_size=4,

room_max_size=5,

spawns_per_room=1,

targets_per_room=3,

skybox_texture=skybox_texture,

wall_textures=wall_textures,

floor_textures=floor_textures)

mjcf.Physics.from_mjcf_model(arena.mjcf_model)

if __name__ == '__main__':

absltest.main()