Add content_type attribute that takes a MIME type to specify the file contents for meshes, hfields, and textures.
PiperOrigin-RevId: 549302344 Change-Id: I30a8adfef5b5d87bb20479329f3396892f5137ff
This commit is contained in:
Kyle Bayes
committed by
Copybara-Service
Copybara-Service
parent
5f327b0c31
commit
5fcdae771b
@@ -150,6 +150,224 @@ TEST_F(VfsTest, TextureCustomWithVFS) {
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EXPECT_THAT(error, HasSubstr("resource not found via provider or OS filesystem"));
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}
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// ------------------------ test content_type attribute ------------------------
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using ContentTypeTest = MujocoTest;
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TEST_F(ContentTypeTest, HFieldPngWithContentType) {
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static constexpr char xml[] = R"(
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<mujoco>
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<asset>
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<hfield name="hfield" content_type="image/png"
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file="some_file.png" size="0.5 0.5 1 0.1"/>
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</asset>
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<worldbody>
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<geom type="hfield" hfield="hfield" pos="-.4 .6 .05"/>
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</worldbody>
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</mujoco>
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)";
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char error[1024];
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size_t error_sz = 1024;
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// load VFS on the heap
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auto vfs = std::make_unique<mjVFS>();
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mj_defaultVFS(vfs.get());
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// should try loading the file
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mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
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EXPECT_THAT(model, IsNull());
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EXPECT_THAT(error, HasSubstr("resource not found via provider or OS filesystem"));
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}
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TEST_F(ContentTypeTest, HFieldCustomWithContentType) {
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static constexpr char xml[] = R"(
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<mujoco>
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<asset>
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<hfield name="hfield" content_type="image/vnd.mujoco.hfield"
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file="some_file" size="0.5 0.5 1 0.1"/>
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</asset>
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<worldbody>
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<geom type="hfield" hfield="hfield" pos="-.4 .6 .05"/>
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</worldbody>
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</mujoco>
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)";
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char error[1024];
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size_t error_sz = 1024;
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// load VFS on the heap
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auto vfs = std::make_unique<mjVFS>();
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mj_defaultVFS(vfs.get());
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// should try loading the file
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mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
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EXPECT_THAT(model, IsNull());
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EXPECT_THAT(error, HasSubstr("resource not found via provider or OS filesystem"));
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}
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TEST_F(ContentTypeTest, HFieldWithContentTypeError) {
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static constexpr char xml[] = R"(
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<mujoco>
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<asset>
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<hfield name="hfield" content_type="image/jpeg"
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file="some_file" size="0.5 0.5 1 0.1"/>
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</asset>
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<worldbody>
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<geom type="hfield" hfield="hfield" pos="-.4 .6 .05"/>
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</worldbody>
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</mujoco>
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)";
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char error[1024];
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size_t error_sz = 1024;
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// load VFS on the heap
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auto vfs = std::make_unique<mjVFS>();
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mj_defaultVFS(vfs.get());
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// should try loading the file
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mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
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EXPECT_THAT(model, IsNull());
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EXPECT_THAT(error, HasSubstr("unsupported content type: 'image/jpeg'"));
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}
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TEST_F(ContentTypeTest, TexturePngWithContentType) {
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static constexpr char xml[] = R"(
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<mujoco>
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<asset>
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<texture name="texture" content_type="image/png" file="some_file" type="2d"/>
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<material name="material" texture="texture"/>
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</asset>
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<worldbody>
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<geom type="plane" material="material" size="4 4 4"/>
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</worldbody>
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</mujoco>
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)";
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char error[1024];
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size_t error_sz = 1024;
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// load VFS on the heap
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auto vfs = std::make_unique<mjVFS>();
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mj_defaultVFS(vfs.get());
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// should try loading the file
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mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
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EXPECT_THAT(model, IsNull());
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EXPECT_THAT(error, HasSubstr("resource not found via provider or OS filesystem"));
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}
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TEST_F(ContentTypeTest, TextureCustomWithContentType) {
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static constexpr char xml[] = R"(
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<mujoco>
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<asset>
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<texture name="texture" content_type="image/vnd.mujoco.texture"
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file="some_file" type="2d"/>
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<material name="material" texture="texture"/>
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</asset>
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<worldbody>
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<geom type="plane" material="material" size="4 4 4"/>
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</worldbody>
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</mujoco>
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)";
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char error[1024];
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size_t error_sz = 1024;
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// load VFS on the heap
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auto vfs = std::make_unique<mjVFS>();
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mj_defaultVFS(vfs.get());
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// should try loading the file
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mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
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EXPECT_THAT(model, IsNull());
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EXPECT_THAT(error, HasSubstr("resource not found via provider or OS filesystem"));
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}
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TEST_F(ContentTypeTest, TextureWithContentTypeError) {
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static constexpr char xml[] = R"(
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<mujoco>
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<asset>
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<texture name="texture" content_type="image/jpeg"
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file="some_file" type="2d"/>
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<material name="material" texture="texture"/>
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</asset>
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<worldbody>
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<geom type="plane" material="material" size="4 4 4"/>
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</worldbody>
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</mujoco>
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)";
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char error[1024];
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size_t error_sz = 1024;
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// load VFS on the heap
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auto vfs = std::make_unique<mjVFS>();
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mj_defaultVFS(vfs.get());
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// should try loading the file
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mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
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EXPECT_THAT(model, IsNull());
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EXPECT_THAT(error, HasSubstr("unsupported content type: 'image/jpeg'"));
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}
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TEST_F(ContentTypeTest, TextureLoadPng) {
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static constexpr char filename[] = "tiny";
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static constexpr char xml[] = R"(
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<mujoco>
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<asset>
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<texture content_type="image/png" file="tiny" type="2d"/>
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<material name="material" texture="tiny"/>
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</asset>
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<worldbody>
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<geom type="plane" material="material" size="4 4 4"/>
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</worldbody>
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</mujoco>
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)";
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// credit: https://www.mjt.me.uk/posts/smallest-png/
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static constexpr unsigned char tiny[] =
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{ 0x89, 0x50, 0x4E, 0x47, 0x0D, 0x0A, 0x1A, 0x0A, 0x00,
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0x00, 0x00, 0x0D, 0x49, 0x48, 0x44, 0x52, 0x00, 0x00,
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0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x03, 0x00,
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0x00, 0x00, 0x66, 0xBC, 0x3A, 0x25, 0x00, 0x00, 0x00,
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0x03, 0x50, 0x4C, 0x54, 0x45, 0xB5, 0xD0, 0xD0, 0x63,
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0x04, 0x16, 0xEA, 0x00, 0x00, 0x00, 0x1F, 0x49, 0x44,
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0x41, 0x54, 0x68, 0x81, 0xED, 0xC1, 0x01, 0x0D, 0x00,
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0x00, 0x00, 0xC2, 0xA0, 0xF7, 0x4F, 0x6D, 0x0E, 0x37,
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0xA0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0xBE, 0x0D, 0x21, 0x00, 0x00, 0x01, 0x9A, 0x60, 0xE1,
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0xD5, 0x00, 0x00, 0x00, 0x00, 0x49, 0x45, 0x4E, 0x44,
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0xAE, 0x42, 0x60, 0x82 };
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size_t tiny_sz = sizeof(tiny);
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char error[1024];
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size_t error_sz = 1024;
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// load VFS on the heap
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auto vfs = std::make_unique<mjVFS>();
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mj_defaultVFS(vfs.get());
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mj_makeEmptyFileVFS(vfs.get(), filename, 105);
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int i = mj_findFileVFS(vfs.get(), filename);
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memcpy(vfs->filedata[i], tiny, tiny_sz);
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// loading the file should be successful
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mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
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EXPECT_THAT(model, NotNull());
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mj_deleteModel(model);
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mj_deleteFileVFS(vfs.get(), filename);
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}
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// ------------------------ test keyframes -------------------------------------
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using KeyframeTest = MujocoTest;
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