Kyle Bayes
ef695bb8a8
PiperOrigin-RevId: 492994751 Change-Id: Iebbe5980668a15b1cd62c0076cc131255462b2eb
51 lines
1.6 KiB
Python
51 lines
1.6 KiB
Python
# Copyright 2022 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ==============================================================================
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"""Tests for the MuJoCo renderer."""
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from absl.testing import absltest
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from absl.testing import parameterized
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import mujoco
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@absltest.skipUnless(hasattr(mujoco, 'GLContext'),
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'MuJoCo rendering is disabled')
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class MuJoCoRendererTest(parameterized.TestCase):
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def test_renderer_renders_scene(self):
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xml = """
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<mujoco>
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<worldbody>
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<camera name="closeup" pos="0 -6 0" xyaxes="1 0 0 0 1 100"/>
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<geom name="white_box" type="box" size="1 1 1" rgba="1 1 1 1"/>
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</worldbody>
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</mujoco>
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"""
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model = mujoco.MjModel.from_xml_string(xml)
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data = mujoco.MjData(model)
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renderer = mujoco.Renderer(model, 50, 50)
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mujoco.mj_forward(model, data)
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renderer.update_scene(data, 'closeup')
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pixels = renderer.render().flatten()
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not_all_black = False
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# Pixels should all be a neutral color.
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for pixel in pixels:
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if pixel > 0:
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not_all_black = True
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break
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self.assertTrue(not_all_black)
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if __name__ == '__main__':
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absltest.main()
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