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b/tests/__snapshots__/test_render/test_madrona_batch_rendering[4-True-True-cuda].png deleted file mode 100644 index ec589f2ac4..0000000000 Binary files a/tests/__snapshots__/test_render/test_madrona_batch_rendering[4-True-True-cuda].png and /dev/null differ diff --git a/tests/test_fem.py b/tests/test_fem.py index 74374e672d..b5dc9cf4da 100644 --- a/tests/test_fem.py +++ b/tests/test_fem.py @@ -6,7 +6,7 @@ import genesis as gs from genesis.utils.misc import tensor_to_array -from .utils import assert_allclose, get_hf_assets +from .utils import assert_allclose, get_hf_dataset @pytest.fixture(scope="session") @@ -375,7 +375,7 @@ def test_fem_sphere_box_self(fem_material_linear_corotated, fem_material_linear_ # Add second FEM entity scale = 0.1 - asset_path = get_hf_assets(pattern="meshes/cube8.obj") + asset_path = get_hf_dataset(pattern="meshes/cube8.obj") scene.add_entity( morph=gs.morphs.Mesh( file=f"{asset_path}/meshes/cube8.obj", diff --git a/tests/test_mesh.py b/tests/test_mesh.py index 2415355051..85f807c782 100644 --- a/tests/test_mesh.py +++ b/tests/test_mesh.py @@ -9,7 +9,7 @@ import genesis.utils.mesh as mu import genesis.utils.usda as usda_utils -from .utils import assert_allclose, assert_array_equal, get_hf_assets +from .utils import assert_allclose, assert_array_equal, get_hf_dataset VERTICES_TOL = 1e-05 # Transformation loses a little precision in vertices NORMALS_TOL = 1e-02 # Conversion from .usd to .glb loses a little precision in normals @@ -248,9 +248,9 @@ def test_glb_parse_material(glb_file): @pytest.mark.required @pytest.mark.parametrize("usd_filename", ["usd/sneaker_airforce", "usd/RoughnessTest"]) def test_usd_parse(usd_filename): - asset_path = get_hf_assets(pattern=f"{usd_filename}.glb") + asset_path = get_hf_dataset(pattern=f"{usd_filename}.glb") glb_file = os.path.join(asset_path, f"{usd_filename}.glb") - asset_path = get_hf_assets(pattern=f"{usd_filename}.usdz") + asset_path = get_hf_dataset(pattern=f"{usd_filename}.usdz") usd_file = os.path.join(asset_path, f"{usd_filename}.usdz") gs_glb_meshes = gltf_utils.parse_mesh_glb( diff --git a/tests/test_render.py b/tests/test_render.py index a4db4dbb97..d6a9cd8bd5 100644 --- a/tests/test_render.py +++ b/tests/test_render.py @@ -1,19 +1,21 @@ import queue import sys from io import BytesIO +from pathlib import Path import numpy as np import pytest import torch from PIL import Image from syrupy.extensions.image import PNGImageSnapshotExtension +from syrupy.location import PyTestLocation import genesis as gs import genesis.utils.geom as gu from genesis.utils import set_random_seed from genesis.utils.image_exporter import FrameImageExporter -from .utils import assert_allclose, assert_array_equal +from .utils import assert_allclose, assert_array_equal, get_hf_dataset IMG_STD_ERR_THR = 0.8 @@ -430,6 +432,9 @@ def test_madrona_batch_rendering(tmp_path, use_rasterizer, render_all_cameras, n pytest.importorskip("gs_madrona", reason="Python module 'gs-madrona' not installed.") + snapshot_dir = Path(PixelMatchSnapshotExtension.dirname(test_location=png_snapshot.test_location)) + get_hf_dataset(pattern=f"{snapshot_dir.name}/*", repo_name="snapshots", local_dir=snapshot_dir.parent) + scene = gs.Scene( sim_options=gs.options.SimOptions( dt=0.02, diff --git a/tests/test_rigid_physics.py b/tests/test_rigid_physics.py index 63ef234fde..3f7db5352c 100644 --- a/tests/test_rigid_physics.py +++ b/tests/test_rigid_physics.py @@ -21,7 +21,7 @@ build_mujoco_sim, check_mujoco_data_consistency, check_mujoco_model_consistency, - get_hf_assets, + get_hf_dataset, init_simulators, simulate_and_check_mujoco_consistency, ) @@ -548,7 +548,7 @@ def test_urdf_rope( dof_damping, show_viewer, ): - asset_path = get_hf_assets(pattern="linear_deformable.urdf") + asset_path = get_hf_dataset(pattern="linear_deformable.urdf") xml_path = os.path.join(asset_path, "linear_deformable.urdf") mj_sim = build_mujoco_sim( @@ -1705,7 +1705,7 @@ def test_mesh_repair(convexify, show_viewer, gjk_collision): show_viewer=show_viewer, show_FPS=False, ) - asset_path = get_hf_assets(pattern="work_table.glb") + asset_path = get_hf_dataset(pattern="work_table.glb") table = scene.add_entity( gs.morphs.Mesh( file=f"{asset_path}/work_table.glb", @@ -1714,7 +1714,7 @@ def test_mesh_repair(convexify, show_viewer, gjk_collision): ), vis_mode="collision", ) - asset_path = get_hf_assets(pattern="spoon.glb") + asset_path = get_hf_dataset(pattern="spoon.glb") obj = scene.add_entity( gs.morphs.Mesh( file=f"{asset_path}/spoon.glb", @@ -1787,7 +1787,7 @@ def test_convexify(euler, backend, show_viewer, gjk_collision): ) objs = [] for i, asset_name in enumerate(("mug_1", "donut_0", "cup_2", "apple_15")): - asset_path = get_hf_assets(pattern=f"{asset_name}/*") + asset_path = get_hf_dataset(pattern=f"{asset_name}/*") obj = scene.add_entity( gs.morphs.MJCF( file=f"{asset_path}/{asset_name}/output.xml", @@ -1896,7 +1896,7 @@ def test_collision_plane_convex(show_viewer, tol): scene.add_entity(morph) - asset_path = get_hf_assets(pattern="image_0000_segmented.glb") + asset_path = get_hf_dataset(pattern="image_0000_segmented.glb") asset = scene.add_entity( gs.morphs.Mesh( file=f"{asset_path}/image_0000_segmented.glb", @@ -2078,7 +2078,7 @@ def test_urdf_parsing(show_viewer, tol): show_viewer=show_viewer, show_FPS=False, ) - asset_path = get_hf_assets(pattern="microwave/*") + asset_path = get_hf_dataset(pattern="microwave/*") entities = {} for i, (fixed, merge_fixed_links) in enumerate( ((False, False), (False, True), (True, False), (True, True)), @@ -2340,7 +2340,7 @@ def test_drone_advanced(show_viewer): show_FPS=False, ) plane = scene.add_entity(gs.morphs.Plane()) - asset_path = get_hf_assets(pattern="drone_sus/*") + asset_path = get_hf_dataset(pattern="drone_sus/*") drones = [] for offset, merge_fixed_links in ((-0.3, False), (0.3, True)): drone = scene.add_entity( diff --git a/tests/utils.py b/tests/utils.py index caa98171ef..afdd71ddda 100644 --- a/tests/utils.py +++ b/tests/utils.py @@ -16,6 +16,7 @@ import mujoco import torch from huggingface_hub import snapshot_download +from PIL import Image, UnidentifiedImageError from requests.exceptions import HTTPError import genesis as gs @@ -28,6 +29,9 @@ REPOSITY_URL = "Genesis-Embodied-AI/Genesis" DEFAULT_BRANCH_NAME = "main" +MESH_EXTENSIONS = (".mtl", ".glb", ".obj", ".stl", ".usb", ".usdz", ".mdl") +IMAGE_EXTENSIONS = (".png", ".jpg") + # Get repository "root" path (actually test dir is good enough) TEST_DIR = os.path.dirname(__file__) @@ -164,7 +168,9 @@ def get_git_commit_info(ref="HEAD"): return revision, timestamp -def get_hf_assets(pattern, num_retry: int = 4, retry_delay: float = 30.0, check: bool = True): +def get_hf_dataset( + pattern, repo_name: str = "assets", local_dir: str | None = None, num_retry: int = 4, retry_delay: float = 30.0 +): assert num_retry >= 1 for _ in range(num_retry): @@ -173,9 +179,10 @@ def get_hf_assets(pattern, num_retry: int = 4, retry_delay: float = 30.0, check: # Try downloading the assets asset_path = snapshot_download( repo_type="dataset", - repo_id="Genesis-Intelligence/assets", + repo_id=f"Genesis-Intelligence/{repo_name}", allow_patterns=pattern, max_workers=1, + local_dir=local_dir, ) # Make sure that download was successful @@ -183,6 +190,11 @@ def get_hf_assets(pattern, num_retry: int = 4, retry_delay: float = 30.0, check: for path in Path(asset_path).rglob(pattern): if not path.is_file(): continue + + ext = path.suffix.lower() + if not ext in (".xml", ".urdf", *IMAGE_EXTENSIONS, *MESH_EXTENSIONS): + continue + has_files = True if path.stat().st_size == 0: @@ -193,9 +205,18 @@ def get_hf_assets(pattern, num_retry: int = 4, retry_delay: float = 30.0, check: ET.parse(path) except ET.ParseError as e: raise HTTPError(f"Impossible to parse XML file.") from e + elif path.suffix.lower() in IMAGE_EXTENSIONS: + try: + Image.open(path) + except UnidentifiedImageError as e: + raise HTTPError(f"Impossible to parse Image file.") from e + elif path.suffix.lower() in MESH_EXTENSIONS: + # TODO: Validating mesh files is more tricky. Ignoring them for now. + pass + if not has_files: raise HTTPError("No file downloaded.") - except HTTPError: + except HTTPError as e: num_trials += 1 if num_trials == num_retry: raise