Add assets to MjSpec.compile()

PiperOrigin-RevId: 653965318 Change-Id: Ib9ec1c70a7241f7ee547b799a08cc58e7d4bace7
2024-07-19 04:33:35 -07:00
parent 85532b74e1
commit 70ac76bb4b
5 changed files with 130 additions and 22 deletions
@@ -249,6 +249,26 @@ class SpecsTest(absltest.TestCase):
      geom = spec.worldbody.next_geom(geom)
      i += 1

+  def test_assets(self):
+    cube = """
+      v -1 -1  1
+      v  1 -1  1
+      v -1  1  1
+      v  1  1  1
+      v -1  1 -1
+      v  1  1 -1
+      v -1 -1 -1
+      v  1 -1 -1"""
+    spec = mujoco.MjSpec()
+    mesh = spec.add_mesh()
+    mesh.name = 'cube'
+    mesh.file = 'cube.obj'
+    geom = spec.worldbody.add_geom()
+    geom.type = mujoco.mjtGeom.mjGEOM_MESH
+    geom.meshname = 'cube'
+    model = spec.compile({'cube.obj': cube})
+    self.assertEqual(model.nmeshvert, 8)
+

 if __name__ == '__main__':
  absltest.main()