Matthew Bennice
20c8e3e43b
PiperOrigin-RevId: 617302442 Change-Id: Ic598df9757288640b5f35c4e740958884b1b4698
71 lines
2.2 KiB
Python
71 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 logging
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import os
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import mujoco
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from absl.testing import absltest
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from etils import epath
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# Open3D and USD are not fully supported on all MuJoCo architectures.
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# pylint: disable=python.style(g-import-not-at-top)
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execute_test = True
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try:
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from mujoco.usd import exporter as exporter_module
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from pxr import Usd
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except ImportError:
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logging.warning('Skipping test due to missing import')
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execute_test = False
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# pylint: enable=python.style(g-import-not-at-top)
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class ExporterTest(absltest.TestCase):
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def test_usd_export(self):
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if not execute_test:
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return
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output_dir = os.getenv('TEST_UNDECLARED_OUTPUTS_DIR')
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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_name="mujoco_usdpkg",
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output_directory_root=output_dir,
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)
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exporter.update_scene(data)
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exporter.save_scene("export.usda")
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with open(os.path.join(
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output_dir, "mujoco_usdpkg/frames", "frame_1_.export.usda"), "r") 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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with open(golden_path, "r") as golden_file:
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self.assertEqual(f.read(), golden_file.read())
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if __name__ == "__main__":
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absltest.main()
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