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Remove custom mujoco.texture format.

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PiperOrigin-RevId: 960257562
Change-Id: I318c84d82576d405f0a5d8510acd5bab5f08c9af
This commit is contained in:
Sam Haves
2026-08-06 06:13:17 -07:00
committed by Copybara-Service
parent 84950fa371
commit 6fe04aa8d3
6 changed files with 14 additions and 120 deletions
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test/user/user_objects_test.cc
-57
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@@ -126,34 +126,6 @@ TEST_F(VfsTest, TexturePngWithVFS) {
mj_deleteVFS(vfs.get());
}
TEST_F(VfsTest, TextureCustomWithVFS) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<texture name="texture" file="unknown_file" type="2d"/>
<material name="material" texture="texture"/>
</asset>
<worldbody>
<geom type="plane" material="material" size="4 4 4"/>
</worldbody>
</mujoco>
)";
char error[1024];
size_t error_sz = 1024;
// load VFS on the heap
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
// should fallback to OS filesystem
MjModelPtr model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model.get(), IsNull());
EXPECT_THAT(error, HasSubstr("Error opening file"));
mj_deleteVFS(vfs.get());
}
// ------------------------ test content_type attribute ------------------------
using ContentTypeTest = MujocoTest;
@@ -270,35 +242,6 @@ TEST_F(ContentTypeTest, TexturePngWithContentType) {
mj_deleteVFS(vfs.get());
}
TEST_F(ContentTypeTest, TextureCustomWithContentType) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<texture name="texture" content_type="image/vnd.mujoco.texture"
file="some_file" type="2d"/>
<material name="material" texture="texture"/>
</asset>
<worldbody>
<geom type="plane" material="material" size="4 4 4"/>
</worldbody>
</mujoco>
)";
char error[1024];
size_t error_sz = 1024;
// load VFS on the heap
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
// should try loading the file
MjModelPtr model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model.get(), IsNull());
EXPECT_THAT(error, HasSubstr("Error opening file"));
mj_deleteVFS(vfs.get());
}
TEST_F(ContentTypeTest, TextureWithContentTypeError) {
static constexpr char xml[] = R"(
<mujoco>