Sam Haves
a5dc57c0c3
Add usd_decoder to mujoco/plugin. - Previously was src/experimental/usd/usd_to_mjspec.cc, now that same spec is returned by the plugin. PiperOrigin-RevId: 854350962 Change-Id: Ia980190a557c50ce8197980922a2594b613859b4
99 lines
3.8 KiB
C++
99 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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#include <array>
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <mujoco/experimental/usd/mjcPhysics/siteAPI.h>
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#include <mujoco/mujoco.h>
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#include "test/fixture.h"
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#include <pxr/base/tf/token.h>
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#include <pxr/usd/sdf/path.h>
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#include <pxr/usd/usd/common.h>
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#include <pxr/usd/usd/stage.h>
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#include <pxr/usd/usdGeom/capsule.h>
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#include <pxr/usd/usdGeom/cube.h>
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#include <pxr/usd/usdGeom/cylinder.h>
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#include <pxr/usd/usdGeom/sphere.h>
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#include <pxr/usd/usdGeom/xform.h>
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#include <pxr/usd/usdPhysics/collisionAPI.h>
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#include <pxr/usd/usdPhysics/rigidBodyAPI.h>
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#define EXPECT_SITE_TYPE(spec, site_path, expected_type) \
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{ \
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mjsElement* site_element = \
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mjs_findElement(spec, mjOBJ_SITE, site_path.GetString().c_str()); \
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EXPECT_THAT(site_element, NotNull()); \
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mjsSite* site = mjs_asSite(site_element); \
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EXPECT_EQ(site->type, expected_type); \
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}
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namespace mujoco {
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namespace {
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using pxr::MjcPhysicsSiteAPI;
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using pxr::SdfPath;
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using MjcSiteApiTest = MujocoTest;
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using testing::NotNull;
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TEST_F(MjcSiteApiTest, TestApply) {
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auto stage = pxr::UsdStage::CreateInMemory();
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auto test_body_path = SdfPath("/World/TestBody");
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auto body = pxr::UsdGeomXform::Define(stage, test_body_path);
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pxr::UsdPhysicsRigidBodyAPI::Apply(body.GetPrim());
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auto test_collider_path =
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test_body_path.AppendChild(pxr::TfToken("Collider"));
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auto collider = pxr::UsdGeomSphere::Define(stage, test_collider_path);
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pxr::UsdPhysicsCollisionAPI::Apply(collider.GetPrim());
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auto test_sphere_site_path =
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test_body_path.AppendChild(pxr::TfToken("SphereSite"));
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auto test_cylinder_site_path =
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test_body_path.AppendChild(pxr::TfToken("CylinderSite"));
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auto test_capsule_site_path =
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test_body_path.AppendChild(pxr::TfToken("CapsuleSite"));
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auto test_box_site_path = test_body_path.AppendChild(pxr::TfToken("BoxSite"));
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auto sphere = pxr::UsdGeomSphere::Define(stage, test_sphere_site_path);
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MjcPhysicsSiteAPI::Apply(sphere.GetPrim());
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auto cylinder = pxr::UsdGeomCylinder::Define(stage, test_cylinder_site_path);
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MjcPhysicsSiteAPI::Apply(cylinder.GetPrim());
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auto capsule = pxr::UsdGeomCapsule::Define(stage, test_capsule_site_path);
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MjcPhysicsSiteAPI::Apply(capsule.GetPrim());
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auto box = pxr::UsdGeomCube::Define(stage, test_box_site_path);
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MjcPhysicsSiteAPI::Apply(box.GetPrim());
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std::array<char, 1024> error;
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mjSpec* spec = mj_parse(stage->GetRootLayer()->GetIdentifier().c_str(),
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"model/usd", nullptr, error.data(), error.size());
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mjModel* default_model = mj_compile(spec, nullptr);
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EXPECT_THAT(default_model, NotNull()) << mjs_getError(spec);
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EXPECT_SITE_TYPE(spec, test_sphere_site_path, mjGEOM_SPHERE);
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EXPECT_SITE_TYPE(spec, test_cylinder_site_path, mjGEOM_CYLINDER);
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EXPECT_SITE_TYPE(spec, test_capsule_site_path, mjGEOM_CAPSULE);
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EXPECT_SITE_TYPE(spec, test_box_site_path, mjGEOM_BOX);
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mj_deleteModel(default_model);
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mj_deleteSpec(spec);
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}
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} // namespace
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} // namespace mujoco
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