Sam Haves
f1b3897ea7
PiperOrigin-RevId: 773354912 Change-Id: Ic19ba6f1ed4c3ae37a9c143f64da8b7ddc3b3e86
125 lines
4.6 KiB
C++
125 lines
4.6 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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#include "test/experimental/usd/test_utils.h"
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#include <string>
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <pxr/base/tf/token.h>
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#include <pxr/usd/sdf/assetPath.h>
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#include <pxr/usd/sdf/childrenPolicies.h>
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#include <pxr/usd/sdf/declareHandles.h>
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#include <pxr/usd/sdf/fileFormat.h>
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#include <pxr/usd/sdf/path.h>
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#include <pxr/usd/sdf/schema.h>
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#include <pxr/usd/usd/common.h>
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#include <pxr/usd/usd/modelAPI.h>
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#include <pxr/usd/usd/stage.h>
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#include <pxr/usd/usdGeom/mesh.h>
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#include <pxr/usd/usdGeom/primvarsAPI.h>
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namespace mujoco {
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namespace usd {
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using pxr::SdfPath;
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pxr::SdfLayerRefPtr LoadLayer(
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const std::string& xml,
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const pxr::SdfFileFormat::FileFormatArguments& args) {
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auto layer = pxr::SdfLayer::CreateAnonymous(
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"test_layer", pxr::SdfFileFormat::FindByExtension("xml"), args);
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layer->ImportFromString(xml);
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EXPECT_THAT(layer, testing::NotNull());
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return layer;
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}
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pxr::UsdStageRefPtr OpenStageWithPhysics(const std::string& xml) {
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pxr::SdfFileFormat::FileFormatArguments args;
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args["usdMjcfToggleUsdPhysics"] = "true";
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pxr::SdfLayerRefPtr layer = LoadLayer(xml, args);
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auto stage = pxr::UsdStage::Open(layer);
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EXPECT_THAT(stage, testing::NotNull());
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return stage;
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}
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template <>
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void ExpectAttributeEqual<pxr::SdfAssetPath>(pxr::UsdStageRefPtr stage,
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pxr::SdfPath path,
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const pxr::SdfAssetPath& value) {
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auto attr = stage->GetAttributeAtPath(path);
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EXPECT_TRUE(attr.IsValid());
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pxr::SdfAssetPath attr_value;
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attr.Get(&attr_value);
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EXPECT_EQ(attr_value.GetAssetPath(), value.GetAssetPath());
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}
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void ExpectAttributeHasConnection(pxr::UsdStageRefPtr stage, const char* path,
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const char* connection_path) {
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auto attr = stage->GetAttributeAtPath(SdfPath(path));
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EXPECT_TRUE(attr.IsValid());
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pxr::SdfPathVector sources;
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attr.GetConnections(&sources);
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EXPECT_EQ(sources.size(), 1);
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EXPECT_EQ(sources[0], SdfPath(connection_path));
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}
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void ExpectAllAuthoredAttributesMatchSchemaTypes(const pxr::UsdPrim& prim) {
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// Get all properties on the prim that have authored opinions.
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for (const pxr::UsdProperty& prop : prim.GetAuthoredProperties()) {
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// We only care about attributes, as they are the ones with a typeName.
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if (pxr::UsdAttribute attr = prop.As<pxr::UsdAttribute>()) {
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// 1. Get the official, composed schema type name for the attribute.
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const pxr::TfToken schemaTypeName = attr.GetTypeName().GetAsToken();
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// An empty schema type name means the attribute is not defined by
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// a schema, or is of a dynamically-determined type. We can't
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// check for a mismatch in this case.
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if (schemaTypeName.IsEmpty()) {
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continue;
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}
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// 2. Get the property stack to check for authored opinions.
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// The stack is ordered from strongest to weakest.
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const pxr::SdfPropertySpecHandleVector propStack =
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attr.GetPropertyStack();
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for (const pxr::SdfPropertySpecHandle& spec : propStack) {
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// We only care about attribute specs.
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if (auto attrSpec =
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pxr::TfDynamic_cast<pxr::SdfAttributeSpecHandle>(spec)) {
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// 3. Check if this spec has an authored `typeName`.
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if (attrSpec->HasField(pxr::SdfFieldKeys->TypeName)) {
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const pxr::TfToken authoredTypeName =
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attrSpec->GetTypeName().GetAsToken();
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EXPECT_EQ(authoredTypeName, schemaTypeName)
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<< "Type mismatch for attribute <" << attr.GetPath()
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<< ">: expected schema-defined type '"
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<< schemaTypeName.GetString() << "', got authored type '"
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<< authoredTypeName.GetString() << "' in layer @"
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<< attrSpec->GetLayer()->GetIdentifier() << "@";
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// We've found the strongest authored opinion for `typeName`,
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// so we can stop checking the stack for this attribute.
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break;
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}
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}
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}
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}
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}
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}
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} // namespace usd
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} // namespace mujoco
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