Sam Haves
57f7145806
- plugin system similar to mjpResourceProvider, but instead of loading a resource it converts an existing mjResource into an mjSpec. - The returned spec is then composed into the referencing spec. - This enables different file types to generate arbitrary specs, and allows us to separate format parsing from compilation code. Follow up CLs will move some of the logic in src/engine for PNG, USD, KTX, OBJ loading into decoders. The mj_parse function MjSpec from a given file, it's a more generic version of mj_parseXML. In it's implementation, mj_parse as opposed to mj_parseXML will look for any registered decoder and not assume we are striclty dealing with MJCF. PiperOrigin-RevId: 826149497 Change-Id: I0ece26904280cb94bd5ded6dd5a565c539d60254
128 lines
3.8 KiB
C++
128 lines
3.8 KiB
C++
// Copyright 2025 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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// Tests for decoder plugins.
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#include <string.h>
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjplugin.h>
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#include <mujoco/mujoco.h>
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#include "test/fixture.h"
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namespace mujoco {
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namespace {
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// A simple mjSpec with one body and one geom.
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static mjSpec* MakeSimpleSpec() {
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mjSpec* s = mj_makeSpec();
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mjsBody* world = mjs_findBody(s, "world");
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mjsBody* body = mjs_addBody(world, nullptr);
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mjsGeom* geom = mjs_addGeom(body, nullptr);
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geom->size[0] = 1.0;
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geom->size[1] = 1.0;
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geom->size[2] = 1.0;
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return s;
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}
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// Always returns a simple mjSpec, ignoring the resource.
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mjSpec* FakeDecode(const mjResource* resource) { return MakeSimpleSpec(); }
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// Can decode any resource that has a .fakeformat extension.
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int FakeCanDecode(const mjResource* resource) {
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const char* ext = strrchr(resource->name, '.');
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if (ext) {
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return strcmp(ext, ".fakeformat") == 0 ||
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strcmp(ext, ".alsoFakeFormat") == 0;
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}
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return 0;
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}
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mjpDecoder FakeDecoder() {
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mjpDecoder decoder;
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mjp_defaultDecoder(&decoder);
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decoder.content_type = "model/fakeformat";
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decoder.extension = ".fakeformat|.alsoFakeFormat";
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decoder.can_decode = FakeCanDecode;
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decoder.decode = FakeDecode;
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return decoder;
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}
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using DecoderPluginTest = MujocoTest;
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TEST_F(DecoderPluginTest, CanDecode) {
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mjpDecoder decoder = FakeDecoder();
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mjp_registerDecoder(&decoder);
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static constexpr char xml[] = R"(
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<mujoco>
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<asset>
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<model name="fakeformat" file="dummy.fakeformat"/>
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<model name="also_fakeformat" file="dummy.alsoFakeFormat"/>
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</asset>
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<worldbody>
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<attach model="fakeformat" prefix="test"/>
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</worldbody>
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</mujoco>
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)";
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char error[1024];
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// create VFS with the XML model and a dummy mesh
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mjVFS vfs;
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mj_defaultVFS(&vfs);
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mj_addBufferVFS(&vfs, "model.xml", xml, strlen(xml));
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mj_addBufferVFS(&vfs, "dummy.fakeformat", "0 1 2", strlen("0 1 2"));
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mj_addBufferVFS(&vfs, "dummy.alsoFakeFormat", "0 1 2", strlen("0 1 2"));
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// Check referencing a resource via XML invokes the decoder.
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mjModel* model = mj_loadXML("model.xml", &vfs, error, sizeof(error));
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ASSERT_THAT(model, testing::NotNull()) << error;
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EXPECT_EQ(model->nbody, 2); // world + included body
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EXPECT_EQ(model->ngeom, 1);
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mj_deleteModel(model);
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// Check mj_parse with extension .fakeformat
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mjSpec* spec =
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mj_parse("dummy.fakeformat", nullptr, &vfs, error, sizeof(error));
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model = mj_compile(spec, &vfs);
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EXPECT_EQ(model->nbody, 2); // world + included body
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EXPECT_EQ(model->ngeom, 1);
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mj_deleteModel(model);
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mj_deleteSpec(spec);
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// Check mj_parse with extension .alsoFakeFormat
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spec = mj_parse("dummy.alsoFakeFormat", nullptr, &vfs, error, sizeof(error));
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model = mj_compile(spec, &vfs);
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EXPECT_EQ(model->nbody, 2); // world + included body
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EXPECT_EQ(model->ngeom, 1);
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mj_deleteModel(model);
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mj_deleteSpec(spec);
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// Check mj_parse with content_type
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spec = mj_parse("dummy.fakeformat", "model/fakeformat", &vfs, error,
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sizeof(error));
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model = mj_compile(spec, &vfs);
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EXPECT_EQ(model->nbody, 2); // world + included body
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EXPECT_EQ(model->ngeom, 1);
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mj_deleteModel(model);
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mj_deleteSpec(spec);
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mj_deleteVFS(&vfs);
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}
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} // namespace
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} // namespace mujoco
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