def testGetAssetsFromDict(self):
with open(_MODEL_WITH_INVALID_FILENAMES, 'rb') as f:
xml_string = f.read()
with open(_TEXTURE_PATH, 'rb') as f:
texture_contents = f.read()
with open(_MESH_PATH, 'rb') as f:
mesh_contents = f.read()
with open(_INCLUDED_WITH_INVALID_FILENAMES, 'rb') as f:
included_xml_contents = f.read()
assets = {
'invalid_texture_name.png': texture_contents,
'invalid_mesh_name.stl': mesh_contents,
'invalid_included_name.xml': included_xml_contents,
}
# The paths specified in the main and included XML files are deliberately
# invalid, so the parser should fail unless the pre-loaded assets are passed
# in as a dict.
with self.assertRaises(IOError):
parser.from_xml_string(xml_string=xml_string)
mujoco = parser.from_xml_string(xml_string=xml_string, assets=assets)
expected_assets = {}
for path, contents in six.iteritems(assets):
_, filename = os.path.split(path)
prefix, extension = os.path.splitext(filename)
if extension != '.xml':
vfs_filename = ''.join(
[prefix, '-', hashlib.sha1(contents).hexdigest(), extension])
expected_assets[vfs_filename] = contents
self.assertDictEqual(expected_assets, mujoco.get_assets())
def testParseFromString(self, model_path):
with open(model_path) as xml_file:
xml_string = xml_file.read()
model_dir, _ = os.path.split(model_path)
parser.from_xml_string(xml_string, model_dir=model_dir)
