Saran Tunyasuvunakool
34c6f9b76b
PiperOrigin-RevId: 698138884 Change-Id: I8a3d093b460bd4acad1fa18806a59c29aaffd4c6
75 lines
2.2 KiB
Python
75 lines
2.2 KiB
Python
# Copyright 2024 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 the MuJoCo USD Exporter."""
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import os
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import tempfile
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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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try:
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from mujoco.usd import exporter as exporter_module # pylint: disable=g-import-not-at-top
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except ModuleNotFoundError:
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exporter_module = None
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class ExporterTest(absltest.TestCase):
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@absltest.skipIf(exporter_module is None, "USD library is not available.")
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def test_usd_export(self):
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output_dir_root = os.getenv(
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"TEST_UNDECLARED_OUTPUTS_DIR", tempfile.gettempdir()
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)
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output_dir_name = "usd_test"
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xml = """
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<mujoco>
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<worldbody>
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<camera name="closeup" pos="0 -6 0" xyaxes="1 0 0 0 1 100"/>
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<geom name="white_box" type="box" size="1 1 1" rgba="1 1 1 1"/>
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</worldbody>
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</mujoco>
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"""
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model = mujoco.MjModel.from_xml_string(xml)
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data = mujoco.MjData(model)
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exporter = exporter_module.USDExporter(
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model,
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output_directory=output_dir_name,
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output_directory_root=output_dir_root,
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camera_names=["closeup"],
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)
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mujoco.mj_step(model, data)
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exporter.update_scene(data)
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exporter.save_scene("usda")
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with open(
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os.path.join(
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output_dir_root, f"{output_dir_name}/frames", "frame_1.usda"
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),
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"r",
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encoding="utf-8",
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) as f:
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golden_path = os.path.join(
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epath.resource_path("mujoco"), "testdata", "usd_golden.usda"
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)
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with open(golden_path, "r", encoding="utf-8") as golden_file:
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self.assertEqual(f.readlines(), golden_file.readlines())
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if __name__ == "__main__":
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absltest.main()
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