Sam Haves
0ec836b281
PiperOrigin-RevId: 875705083 Change-Id: I21403d84abd56ef72de915bddc724fe3efa506e6
80 lines
2.0 KiB
Python
80 lines
2.0 KiB
Python
# Copyright 2023 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 msh2obj.py."""
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from absl.testing import absltest
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from etils import epath
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import mujoco
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from mujoco import msh2obj
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import numpy as np
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_MESH_FIELDS = (
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"mesh_vertadr",
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"mesh_vertnum",
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"mesh_faceadr",
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"mesh_facenum",
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"mesh_bvhadr",
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"mesh_bvhnum",
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"mesh_normaladr",
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"mesh_normalnum",
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"mesh_texcoordadr",
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"mesh_texcoordnum",
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"mesh_graphadr",
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"mesh_vert",
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"mesh_normal",
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"mesh_face",
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"mesh_facenormal",
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"mesh_facetexcoord",
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"mesh_graph",
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"mesh_texcoord",
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)
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_XML = """
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<mujoco>
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<asset>
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<mesh name="abdomen_1_body" file="abdomen_1_body.obj"/>
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</asset>
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</mujoco>
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"""
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class MshTest(absltest.TestCase):
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def test_obj_model_matches_msh_model(self) -> None:
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test_path = epath.resource_path("mujoco") / "testdata"
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msh_xml = test_path / "msh.xml"
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msh_model = mujoco.MjModel.from_xml_path(msh_xml.as_posix())
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msh_path = test_path / "abdomen_1_body.msh"
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obj = msh2obj.msh_to_obj(msh_path)
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obj_model = mujoco.MjModel.from_xml_string(
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_XML, {"abdomen_1_body.obj": obj.encode()}
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)
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for field in _MESH_FIELDS:
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np.testing.assert_allclose(
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getattr(msh_model, field),
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getattr(obj_model, field),
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atol=1e-6,
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err_msg=f"Field {field} does not match between msh and obj models.",
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)
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if __name__ == "__main__":
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absltest.main()
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