Sam Haves
723b8b1ea6
This change introduces MjVFS, an explicit object to mirror the C mjVFS. This is meant to replace the MjSpec.assets dict. This latter while convenient guides users towards harmful authoring patterns with respect to data duplication and spec attachment workflows. Making VFS management explicit should encourage better memory usage and allow us to make better compile time optimizations. From this change, `spec.assets` is deprecated. However we will temporarily support backwards compatibility due to the wide spread usage. An error will be thrown if calling code tries to use a spec that uses both the assets dict and the new MjVfs. PiperOrigin-RevId: 908772050 Change-Id: I77c6d0369307fc300c954768fed17401261e18da
252 lines
6.8 KiB
Python
252 lines
6.8 KiB
Python
# Copyright 2026 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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import textwrap
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from absl.testing import absltest
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import mujoco
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SIMPLE_XML = b"<mujoco/>"
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XML_WITH_MESH = textwrap.dedent("""\
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<mujoco>
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<asset>
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<mesh name="box" file="box.obj"/>
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</asset>
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<worldbody>
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<body>
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<geom type="mesh" mesh="box"/>
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</body>
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</worldbody>
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</mujoco>
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""").encode()
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BOX_OBJ = textwrap.dedent("""\
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v -1 -1 -1
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v 1 -1 -1
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v 1 1 -1
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v -1 1 -1
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v -1 -1 1
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v 1 -1 1
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v 1 1 1
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v -1 1 1
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f 1 2 3 4
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f 5 8 7 6
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f 1 5 6 2
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f 2 6 7 3
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f 3 7 8 4
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f 4 8 5 1
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""").encode()
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class VfsLifecycleTest(absltest.TestCase):
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def test_create_and_close(self):
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vfs = mujoco.MjVfs()
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vfs.close()
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def test_context_manager(self):
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with mujoco.MjVfs() as vfs:
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self.assertIsNotNone(vfs)
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def test_double_close_is_safe(self):
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vfs = mujoco.MjVfs()
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vfs.close()
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vfs.close()
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def test_operations_after_close_raise(self):
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vfs = mujoco.MjVfs()
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vfs.close()
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with self.assertRaises(RuntimeError):
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vfs["model.xml"] = SIMPLE_XML
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class VfsBufferTest(absltest.TestCase):
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def test_add_buffer(self):
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with mujoco.MjVfs() as vfs:
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vfs["model.xml"] = SIMPLE_XML
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self.assertIn("model.xml", vfs)
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def test_add_duplicate_raises(self):
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with mujoco.MjVfs() as vfs:
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vfs["model.xml"] = SIMPLE_XML
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with self.assertRaises(ValueError):
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vfs["model.xml"] = SIMPLE_XML
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def test_delete_buffer(self):
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with mujoco.MjVfs() as vfs:
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vfs["model.xml"] = SIMPLE_XML
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self.assertIn("model.xml", vfs)
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del vfs["model.xml"]
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self.assertNotIn("model.xml", vfs)
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def test_delete_missing_raises(self):
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with mujoco.MjVfs() as vfs:
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with self.assertRaises(KeyError):
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del vfs["nonexistent"]
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def test_contains_missing(self):
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with mujoco.MjVfs() as vfs:
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self.assertNotIn("nonexistent", vfs)
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class VfsCompileTest(absltest.TestCase):
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def test_compile_simple_model(self):
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with mujoco.MjVfs() as vfs:
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vfs["model.xml"] = SIMPLE_XML
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model = mujoco.MjModel.from_xml_path("model.xml", vfs=vfs)
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self.assertEqual(model.nq, 0)
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def test_compile_model_with_mesh(self):
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with mujoco.MjVfs() as vfs:
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vfs["model.xml"] = XML_WITH_MESH
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vfs["box.obj"] = BOX_OBJ
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model = mujoco.MjModel.from_xml_path("model.xml", vfs=vfs)
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self.assertEqual(model.nmesh, 1)
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def test_spec_from_string_with_vfs(self):
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with mujoco.MjVfs() as vfs:
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vfs["box.obj"] = BOX_OBJ
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spec = mujoco.MjSpec.from_string(XML_WITH_MESH.decode(), vfs=vfs)
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model = spec.compile(vfs=vfs)
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self.assertEqual(model.nmesh, 1)
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def test_from_xml_string_with_vfs(self):
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with mujoco.MjVfs() as vfs:
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vfs["box.obj"] = BOX_OBJ
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model = mujoco.MjModel.from_xml_string(
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XML_WITH_MESH.decode(), vfs=vfs
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)
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self.assertEqual(model.nmesh, 1)
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def test_spec_compile_with_vfs(self):
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with mujoco.MjVfs() as vfs:
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vfs["box.obj"] = BOX_OBJ
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spec = mujoco.MjSpec.from_string(XML_WITH_MESH.decode())
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model = spec.compile(vfs=vfs)
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self.assertEqual(model.nmesh, 1)
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def test_spec_recompile_with_vfs(self):
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with mujoco.MjVfs() as vfs:
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vfs["box.obj"] = BOX_OBJ
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spec = mujoco.MjSpec.from_string(XML_WITH_MESH.decode())
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model1 = spec.compile(vfs=vfs)
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self.assertEqual(model1.ngeom, 1)
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body = spec.worldbody.add_body()
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body.add_geom(size=[1, 0, 0])
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model2 = spec.compile(vfs=vfs)
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self.assertEqual(model2.ngeom, 2)
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def test_long_lived_vfs_without_context(self):
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vfs = mujoco.MjVfs()
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vfs["box.obj"] = BOX_OBJ
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spec = mujoco.MjSpec.from_string(XML_WITH_MESH.decode())
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model1 = spec.compile(vfs=vfs)
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self.assertEqual(model1.nmesh, 1)
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spec.worldbody.add_body().add_geom(size=[1, 0, 0])
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model2 = spec.compile(vfs=vfs)
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self.assertEqual(model2.nmesh, 1)
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self.assertEqual(model2.ngeom, 2)
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vfs.close()
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def test_vfs_and_assets_raises(self):
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with mujoco.MjVfs() as vfs:
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vfs["model.xml"] = SIMPLE_XML
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with self.assertRaises(ValueError):
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mujoco.MjModel.from_xml_string(
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SIMPLE_XML.decode(), assets={"a": b"b"}, vfs=vfs
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)
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def test_backward_compat_assets_dict(self):
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model = mujoco.MjModel.from_xml_string(
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XML_WITH_MESH.decode(), assets={"box.obj": BOX_OBJ}
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)
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self.assertEqual(model.nmesh, 1)
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class VfsAttachTest(absltest.TestCase):
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def test_attach_shared_vfs(self):
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child_xml = textwrap.dedent("""\
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<mujoco>
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<asset>
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<mesh name="child_mesh" file="box.obj"/>
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</asset>
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<worldbody>
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<body name="child">
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<geom type="mesh" mesh="child_mesh" size="1 1 1"/>
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<site name="attachment_site"/>
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</body>
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</worldbody>
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</mujoco>
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""")
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parent_xml = textwrap.dedent("""\
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<mujoco>
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<worldbody>
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<body name="parent">
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<site name="mount"/>
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</body>
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</worldbody>
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</mujoco>
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""")
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with mujoco.MjVfs() as vfs:
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vfs["box.obj"] = BOX_OBJ
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parent = mujoco.MjSpec.from_string(parent_xml)
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child = mujoco.MjSpec.from_string(child_xml)
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parent.attach(child, site="mount")
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model = parent.compile(vfs=vfs)
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self.assertEqual(model.nmesh, 1)
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self.assertEmpty(parent.assets)
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def test_attach_no_asset_dict_needed(self):
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child_xml = textwrap.dedent("""\
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<mujoco>
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<worldbody>
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<body name="child">
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<geom size="1"/>
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<site name="child_site"/>
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</body>
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</worldbody>
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</mujoco>
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""")
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parent_xml = textwrap.dedent("""\
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<mujoco>
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<worldbody>
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<body name="parent">
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<site name="mount"/>
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</body>
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</worldbody>
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</mujoco>
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""")
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with mujoco.MjVfs() as vfs:
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parent = mujoco.MjSpec.from_string(parent_xml)
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child = mujoco.MjSpec.from_string(child_xml)
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parent.attach(child, site="mount")
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model = parent.compile(vfs=vfs)
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self.assertGreater(model.nbody, 1)
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if __name__ == "__main__":
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absltest.main()
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