Google DeepMind
8e7457d7c6
The SDF_FORMAT_ARGS `usdMjcfToggleUsdPhysics` is introduced to toggle writing UsdPhysics or not when converting. Off by default PiperOrigin-RevId: 746467942 Change-Id: I26cb9a4c4ae2eef96163dab967a74f14940a2a6d
95 lines
3.7 KiB
C++
95 lines
3.7 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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#ifndef MUJOCO_TEST_EXPERIMENTAL_USD_PLUGINS_MJCF_FIXTURE_H_
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#define MUJOCO_TEST_EXPERIMENTAL_USD_PLUGINS_MJCF_FIXTURE_H_
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#include <string>
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#include <gtest/gtest.h>
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#include "test/fixture.h"
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#include <pxr/usd/sdf/assetPath.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/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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#define EXPECT_PRIM_VALID(stage, path) \
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EXPECT_TRUE((stage)->GetPrimAtPath(SdfPath(path)).IsValid());
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#define EXPECT_PRIM_IS_A(stage, path, type) \
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{ \
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EXPECT_TRUE((stage)->GetPrimAtPath(SdfPath(path)).IsA<type>()); \
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}
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#define EXPECT_PRIM_API_APPLIED(stage, path, api) \
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{ \
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EXPECT_TRUE((stage)->GetPrimAtPath(SdfPath(path)).HasAPI<api>()); \
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}
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#define EXPECT_PRIM_API_NOT_APPLIED(stage, path, api) \
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{ \
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EXPECT_FALSE((stage)->GetPrimAtPath(SdfPath(path)).HasAPI<api>()); \
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}
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#define EXPECT_PRIM_KIND(stage, path, kind) \
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{ \
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pxr::TfToken prim_kind; \
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pxr::UsdModelAPI::Get(stage, SdfPath(path)).GetKind(&prim_kind); \
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EXPECT_EQ(kind, prim_kind); \
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}
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#define EXPECT_PRIM_PURPOSE(stage, path, purpose) \
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{ \
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pxr::TfToken prim_purpose; \
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pxr::UsdGeomImageable::Get(stage, SdfPath(path)) \
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.GetPurposeAttr() \
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.Get(&prim_purpose); \
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EXPECT_EQ(prim_purpose, purpose); \
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}
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namespace mujoco {
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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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template <typename T>
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void ExpectAttributeEqual(pxr::UsdStageRefPtr stage, const char* path,
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const T& value) {
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auto attr = stage->GetAttributeAtPath(pxr::SdfPath(path));
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EXPECT_TRUE(attr.IsValid());
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T attr_value;
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attr.Get(&attr_value);
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EXPECT_EQ(attr_value, value);
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}
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// Specialization for SdfAssetPath, so that we can compare only the asset path
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// and not care about whatever the resolved path is.
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// Otherwise the default operator== would fail because it tests for equality of
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// the asset path AND the resolved path.
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template <>
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void ExpectAttributeEqual<pxr::SdfAssetPath>(pxr::UsdStageRefPtr stage,
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const char* path,
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const pxr::SdfAssetPath& value);
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void ExpectAttributeHasConnection(pxr::UsdStageRefPtr stage, const char* path,
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const char* connection_path);
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using MjcfSdfFileFormatPluginTest = MujocoTest;
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} // namespace mujoco
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#endif // MUJOCO_TEST_EXPERIMENTAL_USD_PLUGINS_MJCF_FIXTURE_H_
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