Add mesh conversion utilities.

PiperOrigin-RevId: 573343028 Change-Id: I4b258f91a11d1994659b0129de5ddb2077689f01
2023-10-13 16:12:36 -07:00
parent efdc89e347
commit e90b347cbf
6 changed files with 210 additions and 0 deletions
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+# Copyright 2023 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 msh2obj.py."""
+
+from absl.testing import absltest
+from etils import epath
+import mujoco
+from mujoco import msh2obj
+import numpy as np
+
+
+_MESH_FIELDS = (
+    "mesh_vertadr",
+    "mesh_vertnum",
+    "mesh_faceadr",
+    "mesh_facenum",
+    "mesh_bvhadr",
+    "mesh_bvhnum",
+    "mesh_normaladr",
+    "mesh_normalnum",
+    "mesh_texcoordadr",
+    "mesh_texcoordnum",
+    "mesh_graphadr",
+    "mesh_vert",
+    "mesh_normal",
+    "mesh_face",
+    "mesh_facenormal",
+    "mesh_facetexcoord",
+    "mesh_graph",
+    "mesh_texcoord",
+)
+
+_XML = """
+<mujoco>
+  <asset>
+    <mesh name="abdomen_1_body" file="abdomen_1_body.obj"/>
+  </asset>
+</mujoco>
+"""
+
+
+class MshTest(absltest.TestCase):
+
+  def test_obj_model_matches_msh_model(self) -> None:
+    test_path = epath.resource_path("mujoco") / "testdata"
+
+    msh_xml = test_path / "msh.xml"
+    msh_model = mujoco.MjModel.from_xml_path(msh_xml.as_posix())
+
+    msh_path = test_path / "abdomen_1_body.msh"
+    obj = msh2obj.msh_to_obj(msh_path)
+
+    obj_model = mujoco.MjModel.from_xml_string(
+        _XML, {"abdomen_1_body.obj": obj.encode()})
+
+    for field in _MESH_FIELDS:
+      np.testing.assert_allclose(
+          getattr(msh_model, field),
+          getattr(obj_model, field),
+          atol=1e-6,
+          err_msg=f"Field {field} does not match between msh and obj models.",
+      )
+
+if __name__ == "__main__":
+  absltest.main()