a
    ij                     @   s   d Z ddlZddlZddlmZ ddlmZ ddlZzddlm	Z
 W n eyZ   dZ
Y n0 G dd dejZedkr~e  dS )	z"Tests for the MuJoCo USD Exporter.    N)absltest)epath)exporterc                   @   s$   e Zd Zeedu ddd ZdS )ExporterTestNzUSD library is not available.c           
   	   C   s   t dt }d}d}tj|}t|}tj	|||dgd}t
|| || |d tt j|| ddd	d
dh}t jtddd}t|d	d
d$}	| | |	  W d    n1 s0    Y  W d    n1 s0    Y  d S )NZTEST_UNDECLARED_OUTPUTS_DIRZusd_testz
<mujoco>
  <worldbody>
    <camera name="closeup" pos="0 -6 0" xyaxes="1 0 0 0 1 100"/>
    <geom name="white_box" type="box" size="1 1 1" rgba="1 1 1 1"/>
  </worldbody>
</mujoco>
Zcloseup)Zoutput_directoryZoutput_directory_rootZcamera_namesusdaz/frameszframe_1.usdarzutf-8)encodingmujocoZtestdatazusd_golden.usda)osgetenvtempfile
gettempdirr	   ZMjModelZfrom_xml_stringZMjDataexporter_moduleZUSDExporterZmj_stepZupdate_sceneZ
save_sceneopenpathjoinr   resource_pathZassertEqual	readlines)
selfZoutput_dir_rootZoutput_dir_namexmlmodeldatar   fZgolden_pathZgolden_file r   X/home/ghrups/robot-bench/.venv/lib64/python3.9/site-packages/mujoco/usd/exporter_test.pytest_usd_export    s:    


zExporterTest.test_usd_export)__name__
__module____qualname__r   ZskipIfr   r   r   r   r   r   r      s   r   __main__)__doc__r
   r   Zabsl.testingr   Zetilsr   r	   Z
mujoco.usdr   r   ModuleNotFoundErrorZTestCaser   r   mainr   r   r   r   <module>   s   
+