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| 1 | +# Copyright 2017 The dm_control Authors. |
| 2 | +# |
| 3 | +# Licensed under the Apache License, Version 2.0 (the "License"); |
| 4 | +# you may not use this file except in compliance with the License. |
| 5 | +# You may obtain a copy of the License at |
| 6 | +# |
| 7 | +# http://www.apache.org/licenses/LICENSE-2.0 |
| 8 | +# |
| 9 | +# Unless required by applicable law or agreed to in writing, software |
| 10 | +# distributed under the License is distributed on an "AS IS" BASIS, |
| 11 | +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 12 | +# See the License for the specific language governing permissions and |
| 13 | +# limitations under the License. |
| 14 | +# ============================================================================ |
| 15 | + |
| 16 | +"""Integration tests for rendering.""" |
| 17 | + |
| 18 | +from __future__ import absolute_import |
| 19 | +from __future__ import division |
| 20 | +from __future__ import print_function |
| 21 | + |
| 22 | +import os |
| 23 | + |
| 24 | +# Internal dependencies. |
| 25 | +from absl.testing import absltest |
| 26 | +from absl.testing import parameterized |
| 27 | +from dm_control.mujoco.testing import decorators |
| 28 | +from dm_control.mujoco.testing import image_utils |
| 29 | +from six.moves import zip # pylint: disable=redefined-builtin |
| 30 | + |
| 31 | + |
| 32 | +DEBUG_IMAGE_DIR = os.environ.get('TEST_UNDECLARED_OUTPUTS_DIR', |
| 33 | + absltest.get_default_test_tmpdir()) |
| 34 | + |
| 35 | +NUM_THREADS = 4 |
| 36 | +CALLS_PER_THREAD = 1 |
| 37 | + |
| 38 | + |
| 39 | +class RenderTest(parameterized.TestCase): |
| 40 | + |
| 41 | + @parameterized.named_parameters(image_utils.SEQUENCES.items()) |
| 42 | + @image_utils.save_images_on_failure(output_dir=DEBUG_IMAGE_DIR) |
| 43 | + @decorators.run_threaded(num_threads=NUM_THREADS, |
| 44 | + calls_per_thread=CALLS_PER_THREAD) |
| 45 | + def test_render(self, sequence): |
| 46 | + for expected, actual in zip(sequence.iter_load(), sequence.iter_render()): |
| 47 | + image_utils.assert_images_close(expected, actual) |
| 48 | + |
| 49 | + @decorators.run_threaded(num_threads=NUM_THREADS, |
| 50 | + calls_per_thread=CALLS_PER_THREAD) |
| 51 | + @image_utils.save_images_on_failure(output_dir=DEBUG_IMAGE_DIR) |
| 52 | + def test_render_multiple_physics_per_thread(self): |
| 53 | + cartpole = image_utils.cartpole |
| 54 | + humanoid = image_utils.humanoid |
| 55 | + cartpole_frames = [] |
| 56 | + humanoid_frames = [] |
| 57 | + for cartpole_frame, humanoid_frame in zip(cartpole.iter_render(), |
| 58 | + humanoid.iter_render()): |
| 59 | + cartpole_frames.append(cartpole_frame) |
| 60 | + humanoid_frames.append(humanoid_frame) |
| 61 | + |
| 62 | + for expected, actual in zip(cartpole.iter_load(), cartpole_frames): |
| 63 | + image_utils.assert_images_close(expected, actual) |
| 64 | + |
| 65 | + for expected, actual in zip(humanoid.iter_load(), humanoid_frames): |
| 66 | + image_utils.assert_images_close(expected, actual) |
| 67 | + |
| 68 | + |
| 69 | +if __name__ == '__main__': |
| 70 | + absltest.main() |
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