Implement basic USD test

PiperOrigin-RevId: 617302442 Change-Id: Ic598df9757288640b5f35c4e740958884b1b4698
2024-03-19 14:51:47 -07:00
parent b4694ee331
commit 20c8e3e43b
4 changed files with 192 additions and 51 deletions
@@ -0,0 +1,70 @@
+# Copyright 2024 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 the MuJoCo USD Exporter."""
+
+import logging
+import os
+
+import mujoco
+
+from absl.testing import absltest
+from etils import epath
+
+# Open3D and USD are not fully supported on all MuJoCo architectures.
+# pylint: disable=python.style(g-import-not-at-top)
+execute_test = True
+try:
+  from mujoco.usd import exporter as exporter_module
+  from pxr import Usd
+except ImportError:
+  logging.warning('Skipping test due to missing import')
+  execute_test = False
+# pylint: enable=python.style(g-import-not-at-top)
+
+class ExporterTest(absltest.TestCase):
+
+  def test_usd_export(self):
+    if not execute_test:
+      return
+
+    output_dir = os.getenv('TEST_UNDECLARED_OUTPUTS_DIR')
+    xml = """
+<mujoco>
+  <worldbody>
+    <camera name="closeup" pos="0 -6 0" xyaxes="1 0 0 0 1 100"/>
+    <geom name="white_box" type="box" size="1 1 1" rgba="1 1 1 1"/>
+  </worldbody>
+</mujoco>
+"""
+    model = mujoco.MjModel.from_xml_string(xml)
+    data = mujoco.MjData(model)
+    exporter = exporter_module.USDExporter(
+        model,
+        output_directory_name="mujoco_usdpkg",
+        output_directory_root=output_dir,
+    )
+    exporter.update_scene(data)
+    exporter.save_scene("export.usda")
+
+    with open(os.path.join(
+        output_dir, "mujoco_usdpkg/frames", "frame_1_.export.usda"), "r") as f:
+      golden_path = os.path.join(
+          epath.resource_path("mujoco"), "testdata", "usd_golden.usda")
+      with open(golden_path, "r") as golden_file:
+        self.assertEqual(f.read(), golden_file.read())
+
+
+if __name__ == "__main__":
+  absltest.main()