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Upstream: https://github.com/michaelgillett/mjlab Upstream-Commit: c19f713c415a699a79d71cd96aa13c3104a05047 Upstream-Branch: main
117 lines
3.1 KiB
Python
117 lines
3.1 KiB
Python
"""Tests for mjlab.utils.xml."""
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import zipfile
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import mujoco
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import numpy as np
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from mjlab.utils.xml import fix_spec_xml, strip_buffer_textures
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def test_strip_buffer_textures():
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"""Stripping buffer textures removes them and enables XML roundtrip."""
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spec = mujoco.MjSpec()
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body = spec.worldbody.add_body(name="terrain")
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tex = spec.add_texture(
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name="hf_tex",
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type=mujoco.mjtTexture.mjTEXTURE_2D,
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width=2,
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height=2,
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)
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tex.data = (np.ones((2, 2, 3), dtype=np.uint8) * 128).tobytes()
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mat = spec.add_material(name="hf_mat")
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mat.textures[mujoco.mjtTextureRole.mjTEXROLE_RGB] = "hf_tex"
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hf = spec.add_hfield(name="hf", nrow=4, ncol=4, size=[1, 1, 0.1, 0.01])
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hf.userdata = np.zeros(16).tolist()
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body.add_geom(
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type=mujoco.mjtGeom.mjGEOM_HFIELD,
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hfieldname="hf",
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material="hf_mat",
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)
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strip_buffer_textures(spec)
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assert len(spec.textures) == 0
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assert len(spec.materials) == 0
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assert spec.geoms[0].material == ""
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# XML roundtrip should succeed now.
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model = mujoco.MjModel.from_xml_string(spec.to_xml())
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assert model.nhfield == 1
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def test_fix_spec_xml():
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"""Removes empty defaults and optionally injects meshdir."""
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xml = (
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"<mujoco>\n"
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" <compiler/>\n"
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" <default/>\n"
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' <default class="foo/bar"/>\n'
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" <worldbody/>\n"
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"</mujoco>\n"
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)
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result = fix_spec_xml(xml, meshdir="assets")
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assert "<default/>" not in result
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assert 'class="foo/bar"' not in result
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assert 'meshdir="assets"' in result
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assert "meshdir" not in fix_spec_xml(xml)
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def test_rough_terrain_write_xml_roundtrip(tmp_path):
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"""Export terrain with hfield via Entity.write_xml, reload as MjModel."""
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from mjlab.terrains.heightfield_terrains import (
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HfRandomUniformTerrainCfg,
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)
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from mjlab.terrains.terrain_entity import TerrainEntity, TerrainEntityCfg
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from mjlab.terrains.terrain_generator import TerrainGeneratorCfg
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terrain = TerrainEntity(
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TerrainEntityCfg(
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terrain_type="generator",
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terrain_generator=TerrainGeneratorCfg(
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size=(2.0, 2.0),
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num_rows=1,
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num_cols=1,
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sub_terrains={
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"rough": HfRandomUniformTerrainCfg(
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proportion=1.0,
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noise_range=(-0.05, 0.05),
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noise_step=0.005,
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),
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},
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),
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),
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device="cpu",
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)
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xml_path = tmp_path / "terrain.xml"
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terrain.write_xml(xml_path)
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model = mujoco.MjModel.from_xml_path(str(xml_path))
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assert model.nhfield == 1
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def test_scene_write_zip(tmp_path):
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"""Scene.write produces a directory; with zip=True, a zip archive."""
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from mjlab.scene.scene import Scene, SceneCfg
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scene = Scene(SceneCfg(), device="cpu")
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# Directory export.
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dir_out = tmp_path / "scene_dir"
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scene.write(dir_out)
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assert (dir_out / "scene.xml").exists()
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mujoco.MjModel.from_xml_path(str(dir_out / "scene.xml"))
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# Zip export.
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zip_out = tmp_path / "scene_pkg"
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scene.write(zip_out, zip=True)
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zip_path = zip_out.with_suffix(".zip")
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assert zip_path.exists()
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assert not zip_out.exists()
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with zipfile.ZipFile(zip_path) as zf:
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assert "scene.xml" in zf.namelist()
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