def test_full_debug_dump(self):
self.setup_debug_mode(debug_mode_enabled=True, full_dump_enabled=False)
mjcf_model = test_code.make_valid_model()
test_code.break_valid_model(mjcf_model)
# Make sure that we advertise full dump mode if it's currently disabled.
with self.assertRaisesRegexp(mujoco_wrapper.Error,
'--pymjcf_debug_full_dump_dir'):
mjcf.Physics.from_mjcf_model(mjcf_model)
self.setup_debug_mode(debug_mode_enabled=True, full_dump_enabled=True)
with self.assertRaises(mujoco_wrapper.Error):
mjcf.Physics.from_mjcf_model(mjcf_model)
with open(os.path.join(self.dump_dir, 'model.xml')) as f:
dumped_xml = f.read()
dumped_xml = [line.strip() for line in dumped_xml.strip().split('\n')]
xml_line_pattern = re.compile(r'^(.*)<!--pymjcfdebug:(\d+)-->$')
uninstrumented_pattern = re.compile(r'({})'.format('|'.join([
r'<mujoco model=".*">', r'</mujoco>', r'<default class=".*/"/?>',
r'</default>'
])))
for xml_line in dumped_xml:
print(xml_line)
xml_line_match = xml_line_pattern.match(xml_line)
if not xml_line_match:
# Only uninstrumented lines are allowed to have no metadata.
self.assertIsNotNone(uninstrumented_pattern.match(xml_line))
else:
xml_element = xml_line_match.group(1)
debug_id = int(xml_line_match.group(2))
with open(os.path.join(self.dump_dir,
str(debug_id) + '.dump')) as f:
element_dump = f.read()
self.assertIn(xml_element, element_dump)
def test_physics_error_message_in_debug_mode(self):
self.setup_debug_mode(debug_mode_enabled=True)
mjcf_model_1 = test_code.make_broken_model()
with self.assertRaisesTestCodeRef('make_broken_model.my_actuator'):
mjcf.Physics.from_mjcf_model(mjcf_model_1)
mjcf_model_2 = test_code.make_valid_model()
physics = mjcf.Physics.from_mjcf_model(mjcf_model_2) # Should not raise.
test_code.break_valid_model(mjcf_model_2)
with self.assertRaisesTestCodeRef('break_valid_model.my_actuator.joint'):
physics.reload_from_mjcf_model(mjcf_model_2)
def test_disable_debug_mode(self):
self.setup_debug_mode(debug_mode_enabled=False)
mjcf_model = test_code.make_valid_model()
test_code.break_valid_model(mjcf_model)
self.assertFalse(mjcf_model.get_init_stack())
my_actuator = mjcf_model.find('actuator', 'my_actuator')
my_actuator_attrib_stacks = (
my_actuator.get_last_modified_stacks_for_all_attributes())
for stack in six.itervalues(my_actuator_attrib_stacks):
self.assertFalse(stack)
def test_element_and_attribute_stacks(self):
self.setup_debug_mode(debug_mode_enabled=True)
mjcf_model = test_code.make_valid_model()
test_code.break_valid_model(mjcf_model)
self.assertStackFromTestCode(mjcf_model.get_init_stack(),
'make_valid_model', 'mjcf_model')
my_actuator = mjcf_model.find('actuator', 'my_actuator')
self.assertStackFromTestCode(my_actuator.get_init_stack(),
'make_valid_model', 'my_actuator')
my_actuator_attrib_stacks = (
my_actuator.get_last_modified_stacks_for_all_attributes())
# `name` attribute was assigned at the same time as the element was created.
self.assertEqual(my_actuator_attrib_stacks['name'],
my_actuator.get_init_stack())
# `joint` attribute was modified later on.
self.assertStackFromTestCode(my_actuator_attrib_stacks['joint'],
'break_valid_model', 'my_actuator.joint')
def test_valid_physics(self):
self.setup_debug_mode(debug_mode_enabled=True)
mjcf_model = test_code.make_valid_model()
mjcf.Physics.from_mjcf_model(mjcf_model) # Should not raise
