Copybara-Service
60afda949c
PiperOrigin-RevId: 651048034 Change-Id: If5b7cb55ff0007c3c6f932e62f068d1168778a33
69 lines
2.1 KiB
Python
69 lines
2.1 KiB
Python
# Copyright 2024 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 the MuJoCo USD Exporter."""
|
|
|
|
import logging
|
|
import os
|
|
|
|
from absl.testing import absltest
|
|
from etils import epath
|
|
import mujoco
|
|
|
|
|
|
# Open3D and USD are not fully supported on all MuJoCo architectures.
|
|
execute_test = True
|
|
try:
|
|
from mujoco.usd import exporter as exporter_module # pylint: disable=g-import-not-at-top
|
|
except ImportError:
|
|
logging.warning('Skipping test due to missing import')
|
|
execute_test = False
|
|
|
|
|
|
class ExporterTest(absltest.TestCase):
|
|
|
|
def test_usd_export(self):
|
|
if not execute_test:
|
|
return
|
|
|
|
output_dir = os.getenv('TEST_UNDECLARED_OUTPUTS_DIR')
|
|
xml = """
|
|
<mujoco>
|
|
<worldbody>
|
|
<camera name="closeup" pos="0 -6 0" xyaxes="1 0 0 0 1 100"/>
|
|
<geom name="white_box" type="box" size="1 1 1" rgba="1 1 1 1"/>
|
|
</worldbody>
|
|
</mujoco>
|
|
"""
|
|
model = mujoco.MjModel.from_xml_string(xml)
|
|
data = mujoco.MjData(model)
|
|
exporter = exporter_module.USDExporter(
|
|
model,
|
|
output_directory_name='mujoco_usdpkg',
|
|
output_directory_root=output_dir,
|
|
)
|
|
exporter.update_scene(data)
|
|
exporter.save_scene('export.usda')
|
|
|
|
with open(os.path.join(
|
|
output_dir, 'mujoco_usdpkg/frames', 'frame_1.export.usda'), 'r') as f:
|
|
golden_path = os.path.join(
|
|
epath.resource_path('mujoco'), 'testdata', 'usd_golden.usda')
|
|
with open(golden_path, 'r') as golden_file:
|
|
self.assertEqual(f.read(), golden_file.read())
|
|
|
|
|
|
if __name__ == '__main__':
|
|
absltest.main()
|