Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
2022-05-23 01:08:10 -07:00
parent 0e5d062302
commit 1913a02b40
275 changed files with 99607 additions and 935 deletions
@@ -0,0 +1,120 @@
+// Copyright 2021 DeepMind Technologies Limited
+//
+// 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 user/user_objects.cc.
+
+#include <array>
+#include <cstddef>
+#include <ostream>
+#include <string>
+
+#include <gmock/gmock.h>
+#include <gtest/gtest.h>
+#include <mujoco/mjmodel.h>
+#include <mujoco/mjtnum.h>
+#include <mujoco/mujoco.h>
+#include "test/fixture.h"
+
+namespace mujoco {
+namespace {
+
+using MjCMeshTest = MujocoTest;
+
+// yuval: why do we want these anyway? why not string literals in the tests?
+// this does not improve readabillity IMO.
+static const char* const kDuplicateVerticesPath =
+    "user/testdata/duplicate_vertices.xml";
+static const char* const kCubePath =
+    "user/testdata/cube.xml";
+static const char* const kTorusPath =
+    "user/testdata/torus.xml";
+static const char* const kTorusQuadsPath =
+    "user/testdata/torus_quads.xml";
+static const char* const kTexturedTorusPath =
+    "user/testdata/textured_torus.xml";
+static const char* const kDuplicateOBJPath =
+    "user/testdata/duplicate.xml";
+
+// ------------- test vertex de-duplication (STL) ------------------------------
+
+TEST_F(MjCMeshTest, DeDuplicateSTLVertices) {
+  const std::string xml_path = GetTestDataFilePath(kDuplicateVerticesPath);
+  char error[1024];
+  size_t error_sz = 1024;
+  mjModel* model = mj_loadXML(xml_path.c_str(), 0, error, error_sz);
+  ASSERT_EQ(model->nmeshvert, 4);
+  mj_deleteModel(model);
+}
+
+// ------------- test OBJ loading ----------------------------------------------
+
+using MjCMeshTest = MujocoTest;
+
+TEST_F(MjCMeshTest, LoadCube) {
+  const std::string xml_path = GetTestDataFilePath(kCubePath);
+  mjModel* model = mj_loadXML(xml_path.c_str(), 0, nullptr, 0);
+  ASSERT_GT(model->ngeom, 0);
+  ASSERT_EQ(model->nmeshvert, 8);
+  mj_deleteModel(model);
+}
+
+TEST_F(MjCMeshTest, LoadTorus) {
+  const std::string xml_path = GetTestDataFilePath(kTorusPath);
+  std::array<char, 1024> error;
+  mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
+  ASSERT_GT(model->ngeom, 0);
+  ASSERT_GT(model->nmeshvert, 0);
+  mj_deleteModel(model);
+}
+
+TEST_F(MjCMeshTest, LoadTorusQuads) {
+  const std::string xml_path = GetTestDataFilePath(kTorusQuadsPath);
+  std::array<char, 1024> error;
+  mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
+  ASSERT_GT(model->ngeom, 0);
+  ASSERT_GT(model->nmeshvert, 0);
+  mj_deleteModel(model);
+}
+
+TEST_F(MjCMeshTest, LoadTexturedTorus) {
+  const std::string xml_path = GetTestDataFilePath(kTexturedTorusPath);
+  std::array<char, 1024> error;
+  mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
+  ASSERT_GT(model->ngeom, 0);
+  ASSERT_GT(model->nmeshvert, 0);
+  ASSERT_GT(model->ntex, 0);
+  ASSERT_GT(model->ntexdata, 0);
+  mj_deleteModel(model);
+}
+
+TEST_F(MjCMeshTest, KeepDuplicateOBJVertices) {
+  const std::string xml_path = GetTestDataFilePath(kDuplicateOBJPath);
+  char error[1024];
+  size_t error_sz = 1024;
+  mjModel* model = mj_loadXML(xml_path.c_str(), 0, error, error_sz);
+  ASSERT_EQ(model->nmeshvert, 12);
+  mj_deleteModel(model);
+}
+
+TEST_F(MjCMeshTest, SaveMeshOnce) {
+  const std::string xml_path = GetTestDataFilePath(kCubePath);
+  std::array<char, 1024> error;
+  mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
+  std::string saved_xml = SaveAndReadXml(model);
+  EXPECT_THAT(saved_xml, Not(testing::HasSubstr("vertex")));
+  mj_deleteModel(model);
+}
+
+}  // namespace
+}  // namespace mujoco