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Upstream: https://github.com/michaelgillett/mjlab Upstream-Commit: c19f713c415a699a79d71cd96aa13c3104a05047 Upstream-Branch: main
117 lines
3.5 KiB
Python
117 lines
3.5 KiB
Python
"""Tests for Viser viewer update-policy helpers."""
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from dataclasses import dataclass
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from typing import Any
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from unittest.mock import MagicMock
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import mujoco
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from mjviser import ViserMujocoScene
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from mjlab.viewer.viser.overlays import ViserContactOverlays, ViserDebugOverlays
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from mjlab.viewer.viser.viewer import ViserPlayViewer
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@dataclass
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class _DummyScene:
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env_idx: int
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debug_visualization_enabled: bool
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show_contact_points: bool = False
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show_contact_forces: bool = False
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needs_update: bool = False
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clear_count: int = 0
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clear_debug_count: int = 0
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def clear(self) -> None:
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self.clear_count += 1
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def clear_debug_all(self) -> None:
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self.clear_debug_count += 1
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class _DummyEnv:
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def __init__(self, unwrapped: Any):
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self._unwrapped = unwrapped
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@property
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def unwrapped(self) -> Any:
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return self._unwrapped
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def test_should_update_cameras():
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assert ViserPlayViewer._should_update_cameras(paused=False, has_pending_updates=False)
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assert not ViserPlayViewer._should_update_cameras(
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paused=True, has_pending_updates=False
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)
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assert ViserPlayViewer._should_update_cameras(paused=True, has_pending_updates=True)
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def test_should_submit_scene_update():
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# Odd ticks are skipped to keep scene submits around 30Hz.
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assert not ViserPlayViewer._should_submit_scene_update(
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counter=1, paused=False, has_pending_updates=True
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)
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# Running: submit on even ticks regardless of pending flags.
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assert ViserPlayViewer._should_submit_scene_update(
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counter=2, paused=False, has_pending_updates=False
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)
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# Paused: submit only with pending updates.
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assert not ViserPlayViewer._should_submit_scene_update(
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counter=2, paused=True, has_pending_updates=False
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)
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assert ViserPlayViewer._should_submit_scene_update(
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counter=2, paused=True, has_pending_updates=True
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)
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def test_scene_requires_live_refresh():
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"""Base scene sets needs_update when contact overlays are visible."""
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model = mujoco.MjModel.from_xml_string("<mujoco><worldbody/></mujoco>")
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server = MagicMock()
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scene = ViserMujocoScene(server, model, num_envs=1)
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scene.show_contact_points = False
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scene.show_contact_forces = False
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scene.needs_update = False
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scene._last_body_xpos = None # No cached data, refresh is a no-op.
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scene.refresh_visualization()
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assert not scene.needs_update
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scene.show_contact_points = True
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assert scene.show_contact_points or scene.show_contact_forces
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def test_debug_overlays_env_switch_and_queue():
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"""env_switch respects enabled flag; queue clears + calls update_visualizers."""
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unwrapped = MagicMock(spec=["update_visualizers"])
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env = _DummyEnv(unwrapped)
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scene = _DummyScene(env_idx=0, debug_visualization_enabled=False)
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overlays = ViserDebugOverlays(env=env, scene=scene)
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# Disabled: env switch does not clear.
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overlays.on_env_switch()
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assert scene.clear_debug_count == 0
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# Enabled: env switch clears, queue dispatches.
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scene.debug_visualization_enabled = True
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overlays.on_env_switch()
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assert scene.clear_debug_count == 1
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overlays.queue()
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assert scene.clear_count == 1
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unwrapped.update_visualizers.assert_called_once_with(scene)
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def test_contact_overlays_env_switch():
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"""env_switch requests scene update only when contacts are enabled."""
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scene = _DummyScene(env_idx=0, debug_visualization_enabled=False)
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overlays = ViserContactOverlays(scene=scene)
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assert not overlays.is_enabled()
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overlays.on_env_switch()
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assert not scene.needs_update
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scene.show_contact_points = True
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assert overlays.is_enabled()
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overlays.on_env_switch()
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assert scene.needs_update
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