| | """Tests for camera_sensor.py and the unified sense pipeline.""" |
| |
|
| | from __future__ import annotations |
| |
|
| | import mujoco |
| | import pytest |
| | import torch |
| | from conftest import get_test_device |
| |
|
| | from mjlab.entity import EntityCfg |
| | from mjlab.scene import Scene, SceneCfg |
| | from mjlab.sensor import CameraSensorCfg, CameraSensorData |
| | from mjlab.sim.sim import Simulation, SimulationCfg |
| |
|
| |
|
| | @pytest.fixture(scope="module") |
| | def device(): |
| | return get_test_device() |
| |
|
| |
|
| | SCENE_WITH_CAMERA_XML = """ |
| | <mujoco> |
| | <worldbody> |
| | <light pos="0 0 3" dir="0 0 -1"/> |
| | <geom name="floor" type="plane" size="10 10 0.1" pos="0 0 0" |
| | rgba="0.5 0.5 0.5 1"/> |
| | <geom name="red_box" type="box" size="0.5 0.5 0.5" pos="0 0 0.5" |
| | rgba="1 0 0 1"/> |
| | <camera name="overhead_cam" pos="0 0 3" quat="1 0 0 0" |
| | fovy="45" resolution="32 24"/> |
| | </worldbody> |
| | </mujoco> |
| | """ |
| |
|
| |
|
| | def _make_scene_and_sim( |
| | device: str, |
| | sensors: tuple, |
| | xml: str = SCENE_WITH_CAMERA_XML, |
| | num_envs: int = 2, |
| | ) -> tuple[Scene, Simulation]: |
| | entity_cfg = EntityCfg(spec_fn=lambda: mujoco.MjSpec.from_string(xml)) |
| | scene_cfg = SceneCfg( |
| | num_envs=num_envs, |
| | env_spacing=5.0, |
| | entities={"world": entity_cfg}, |
| | sensors=sensors, |
| | ) |
| | scene = Scene(scene_cfg, device) |
| | model = scene.compile() |
| | sim = Simulation(num_envs=num_envs, cfg=SimulationCfg(), model=model, device=device) |
| | scene.initialize(sim.mj_model, sim.model, sim.data) |
| | if scene.sensor_context is not None: |
| | sim.set_sensor_context(scene.sensor_context) |
| | return scene, sim |
| |
|
| |
|
| | def test_camera_rgb_shape(device): |
| | """RGB data has correct shape [num_envs, height, width, 3].""" |
| | cam_cfg = CameraSensorCfg( |
| | name="test_cam", |
| | camera_name="world/overhead_cam", |
| | width=32, |
| | height=24, |
| | data_types=("rgb",), |
| | ) |
| | scene, sim = _make_scene_and_sim(device, sensors=(cam_cfg,)) |
| |
|
| | sim.forward() |
| | sim.sense() |
| | sensor = scene["test_cam"] |
| | data = sensor.data |
| |
|
| | assert isinstance(data, CameraSensorData) |
| | assert data.rgb is not None |
| | assert data.rgb.shape == (2, 24, 32, 3) |
| | assert data.rgb.dtype == torch.uint8 |
| | assert data.depth is None |
| |
|
| |
|
| | def test_camera_depth_shape(device): |
| | """Depth data has correct shape [num_envs, height, width].""" |
| | cam_cfg = CameraSensorCfg( |
| | name="test_cam", |
| | camera_name="world/overhead_cam", |
| | width=32, |
| | height=24, |
| | data_types=("depth",), |
| | ) |
| | scene, sim = _make_scene_and_sim(device, sensors=(cam_cfg,)) |
| |
|
| | sim.forward() |
| | sim.sense() |
| | data = scene["test_cam"].data |
| |
|
| | assert isinstance(data, CameraSensorData) |
| | assert data.depth is not None |
| | assert data.depth.shape == (2, 24, 32, 1) |
| | assert data.depth.dtype == torch.float32 |
| | assert data.rgb is None |
| |
|
| |
|
| | def test_camera_rgb_and_depth(device): |
| | """Both RGB and depth can be requested simultaneously.""" |
| | cam_cfg = CameraSensorCfg( |
| | name="test_cam", |
| | camera_name="world/overhead_cam", |
| | width=32, |
| | height=24, |
| | data_types=("rgb", "depth"), |
| | ) |
| | scene, sim = _make_scene_and_sim(device, sensors=(cam_cfg,)) |
| |
|
| | sim.forward() |
| | sim.sense() |
| | data = scene["test_cam"].data |
| |
|
| | assert data.rgb is not None |
| | assert data.depth is not None |
| | assert data.rgb.shape == (2, 24, 32, 3) |
| | assert data.depth.shape == (2, 24, 32, 1) |
| |
|
| |
|
| | def test_camera_create_new(device): |
| | """Camera sensor can create a new camera (not wrap existing).""" |
| | |
| | xml = """ |
| | <mujoco> |
| | <worldbody> |
| | <light pos="0 0 3" dir="0 0 -1"/> |
| | <geom name="floor" type="plane" size="10 10 0.1" |
| | rgba="0.5 0.5 0.5 1"/> |
| | </worldbody> |
| | </mujoco> |
| | """ |
| | cam_cfg = CameraSensorCfg( |
| | name="my_camera", |
| | pos=(0.0, 0.0, 3.0), |
| | quat=(1.0, 0.0, 0.0, 0.0), |
| | fovy=45.0, |
| | width=16, |
| | height=12, |
| | data_types=("rgb",), |
| | ) |
| | scene, sim = _make_scene_and_sim(device, sensors=(cam_cfg,), xml=xml) |
| |
|
| | sim.forward() |
| | sim.sense() |
| | data = scene["my_camera"].data |
| |
|
| | assert data.rgb is not None |
| | assert data.rgb.shape == (2, 12, 16, 3) |
| |
|
| |
|
| | def test_camera_rgb_not_all_zeros(device): |
| | """RGB data should contain non-zero values when scene has objects.""" |
| | cam_cfg = CameraSensorCfg( |
| | name="test_cam", |
| | camera_name="world/overhead_cam", |
| | width=32, |
| | height=24, |
| | data_types=("rgb",), |
| | ) |
| | scene, sim = _make_scene_and_sim(device, sensors=(cam_cfg,)) |
| |
|
| | sim.forward() |
| | sim.sense() |
| | data = scene["test_cam"].data |
| |
|
| | assert data.rgb is not None |
| | |
| | assert data.rgb.any(), "RGB data is all zeros - rendering may have failed" |
| |
|
| |
|
| | def test_camera_wrap_existing_overrides_fovy(device): |
| | """Wrapping an existing camera can override its fovy.""" |
| | cam_cfg = CameraSensorCfg( |
| | name="test_cam", |
| | camera_name="world/overhead_cam", |
| | width=32, |
| | height=24, |
| | fovy=90.0, |
| | data_types=("rgb",), |
| | ) |
| | scene, sim = _make_scene_and_sim(device, sensors=(cam_cfg,)) |
| |
|
| | |
| | cam_id = sim.mj_model.camera("world/overhead_cam").id |
| | assert sim.mj_model.cam_fovy[cam_id] == pytest.approx(90.0) |
| |
|
| | sim.forward() |
| | sim.sense() |
| | data = scene["test_cam"].data |
| | assert data.rgb is not None |
| |
|
| |
|
| | @pytest.mark.skipif( |
| | not torch.cuda.is_available(), reason="CUDA required for sense graph" |
| | ) |
| | def test_sense_graph_captured(device): |
| | """Verify sense_graph is captured on CUDA.""" |
| | cam_cfg = CameraSensorCfg( |
| | name="test_cam", |
| | camera_name="world/overhead_cam", |
| | width=16, |
| | height=12, |
| | data_types=("rgb",), |
| | ) |
| | scene, sim = _make_scene_and_sim(device, sensors=(cam_cfg,)) |
| |
|
| | |
| | if sim.use_cuda_graph: |
| | assert sim.sense_graph is not None |
| |
|
| |
|
| | def test_camera_clone_data(device): |
| | """clone_data=True returns independent tensors.""" |
| | cam_cfg = CameraSensorCfg( |
| | name="test_cam", |
| | camera_name="world/overhead_cam", |
| | width=16, |
| | height=12, |
| | data_types=("rgb",), |
| | clone_data=True, |
| | ) |
| | scene, sim = _make_scene_and_sim(device, sensors=(cam_cfg,)) |
| |
|
| | sim.forward() |
| | sim.sense() |
| | data1 = scene["test_cam"].data |
| | rgb1 = data1.rgb |
| |
|
| | |
| | scene["test_cam"]._invalidate_cache() |
| | data2 = scene["test_cam"].data |
| | rgb2 = data2.rgb |
| |
|
| | |
| | assert rgb1 is not None and rgb2 is not None |
| | assert rgb1.data_ptr() != rgb2.data_ptr() |
| |
|
| |
|
| | def test_camera_sensor_context_created(device): |
| | """Scene creates SensorContext when camera sensors are present.""" |
| | cam_cfg = CameraSensorCfg( |
| | name="test_cam", |
| | camera_name="world/overhead_cam", |
| | width=16, |
| | height=12, |
| | data_types=("rgb",), |
| | ) |
| | scene, _ = _make_scene_and_sim(device, sensors=(cam_cfg,)) |
| |
|
| | assert scene.sensor_context is not None |
| | assert scene.sensor_context.has_cameras |
| |
|
| |
|
| | def test_camera_create_on_parent_body(device): |
| | """Camera sensor can create a new camera attached to a body.""" |
| | xml = """ |
| | <mujoco> |
| | <worldbody> |
| | <light pos="0 0 3" dir="0 0 -1"/> |
| | <geom name="floor" type="plane" size="10 10 0.1" |
| | rgba="0.5 0.5 0.5 1"/> |
| | <body name="arm_link" pos="0 0 1"> |
| | <geom type="box" size="0.1 0.1 0.1" rgba="1 0 0 1"/> |
| | </body> |
| | </worldbody> |
| | </mujoco> |
| | """ |
| | cam_cfg = CameraSensorCfg( |
| | name="wrist_cam", |
| | parent_body="world/arm_link", |
| | pos=(0.0, 0.0, 0.2), |
| | quat=(1.0, 0.0, 0.0, 0.0), |
| | fovy=45.0, |
| | width=16, |
| | height=12, |
| | data_types=("rgb",), |
| | ) |
| | scene, sim = _make_scene_and_sim(device, sensors=(cam_cfg,), xml=xml) |
| |
|
| | sim.forward() |
| | sim.sense() |
| | data = scene["wrist_cam"].data |
| |
|
| | assert isinstance(data, CameraSensorData) |
| | assert data.rgb is not None |
| | assert data.rgb.shape == (2, 12, 16, 3) |
| |
|