Skip tests that require an OpenGL context if DISABLE_MUJOCO_RENDERING is set

Also fixed a Python3 incompatibility in `engine.py` and added a missing test dependency on scipy.

PiperOrigin-RevId: 183157102

Author: alimuldal

dm_control/mujoco/engine.py

@@ -52,6 +52,7 @@
 
 import numpy as np
 import six
+from six.moves import xrange  # pylint: disable=redefined-builtin
 
 from dm_control.rl import specs
 

dm_control/mujoco/engine_test.py

@@ -18,11 +18,14 @@
 from __future__ import division
 from __future__ import print_function
 
+import unittest
+
 # Internal dependencies.
 
 from absl.testing import absltest
 from absl.testing import parameterized
 
+from dm_control import render
 from dm_control.mujoco import engine
 from dm_control.mujoco import wrapper
 from dm_control.mujoco.testing import assets
@@ -63,12 +66,14 @@ def _assert_attributes_equal(self, actual_obj, expected_obj, attr_to_compare):
         raise AssertionError("Attribute '{}' differs from expected value. {}"
                              "".format(name, e.message))
 
+  @unittest.skipIf(render.DISABLED, reason=render.DISABLED_MESSAGE)
   @parameterized.parameters(0, 'cart', u'cart')
   def testCameraIndexing(self, camera_id):
     height, width = 480, 640
     _ = engine.Camera(
         self._physics, height, width, camera_id=camera_id)
 
+  @unittest.skipIf(render.DISABLED, reason=render.DISABLED_MESSAGE)
   def testDepthRender(self):
     plane_and_box = """
     <mujoco>
@@ -86,6 +91,7 @@ def testDepthRender(self):
     # Furthest pixels should be 3m away (depth is orthographic)
     np.testing.assert_approx_equal(pixels.max(), 3.0, 3)
 
+  @unittest.skipIf(render.DISABLED, reason=render.DISABLED_MESSAGE)
   def testTextOverlay(self):
     height, width = 480, 640
     overlay = engine.TextOverlay(title='Title', body='Body', style='big',
@@ -97,6 +103,7 @@ def testTextOverlay(self):
     self.assertFalse(np.all(no_overlay == with_overlay),
                      msg='Images are identical with and without text overlay.')
 
+  @unittest.skipIf(render.DISABLED, reason=render.DISABLED_MESSAGE)
   def testSceneOption(self):
     height, width = 480, 640
     scene_option = wrapper.MjvOption()
@@ -115,6 +122,7 @@ def testSceneOption(self):
                             ((0.5, 0.1), (0, 0)),  # ground
                             ((0.9, 0.9), (None, None)),  # sky
                            )
+  @unittest.skipIf(render.DISABLED, reason=render.DISABLED_MESSAGE)
   def testCameraSelection(self, coordinates, expected_selection):
     height, width = 480, 640
     camera = engine.Camera(self._physics, height, width, camera_id=0)
@@ -127,6 +135,7 @@ def testCameraSelection(self, coordinates, expected_selection):
     selected = camera.select(coordinates)
     self.assertEqual(expected_selection, selected[:2])
 
+  @unittest.skipIf(render.DISABLED, reason=render.DISABLED_MESSAGE)
   def testMovableCameraSetGetPose(self):
     height, width = 240, 320
 
@@ -154,6 +163,7 @@ def testMovableCameraSetGetPose(self):
 
     self.assertFalse(np.all(image == camera.render()))
 
+  @unittest.skipIf(render.DISABLED, reason=render.DISABLED_MESSAGE)
   def testRenderExceptions(self):
     max_width = self._physics.model.vis.global_.offwidth
     max_height = self._physics.model.vis.global_.offheight
@@ -167,6 +177,7 @@ def testRenderExceptions(self):
     with self.assertRaisesRegexp(ValueError, 'camera_id'):
       self._physics.render(max_height, max_width, camera_id=-2)
 
+  @unittest.skipIf(render.DISABLED, reason=render.DISABLED_MESSAGE)
   def testPhysicsRenderMethod(self):
     height, width = 240, 320
     image = self._physics.render(height=height, width=width)

dm_control/mujoco/render_test.py

@@ -20,10 +20,12 @@
 from __future__ import print_function
 
 import os
+import unittest
 
 # Internal dependencies.
 from absl.testing import absltest
 from absl.testing import parameterized
+from dm_control import render
 from dm_control.mujoco.testing import decorators
 from dm_control.mujoco.testing import image_utils
 from six.moves import zip  # pylint: disable=redefined-builtin
@@ -36,6 +38,7 @@
 CALLS_PER_THREAD = 1
 
 
+@unittest.skipIf(render.DISABLED, render.DISABLED_MESSAGE)
 class RenderTest(parameterized.TestCase):
 
   @parameterized.named_parameters(image_utils.SEQUENCES.items())

dm_control/mujoco/thread_safety_test.py

@@ -19,10 +19,12 @@
 from __future__ import division
 from __future__ import print_function
 
+import unittest
+
 # Internal dependencies.
 
 from absl.testing import absltest
-
+from dm_control import render
 from dm_control.mujoco import engine
 from dm_control.mujoco.testing import assets
 from dm_control.mujoco.testing import decorators
@@ -68,6 +70,7 @@ def test_load_and_step_multiple_physics_sequential(self):
     for _ in xrange(NUM_STEPS):
       physics2.step()
 
+  @unittest.skipIf(render.DISABLED, render.DISABLED_MESSAGE)
   @decorators.run_threaded(calls_per_thread=5)
   def test_load_physics_and_render(self):
     physics = engine.Physics.from_xml_string(MODEL)
@@ -83,6 +86,7 @@ def test_load_physics_and_render(self):
 
     self.assertEqual(NUM_STEPS, len(unique_frames))
 
+  @unittest.skipIf(render.DISABLED, render.DISABLED_MESSAGE)
   @decorators.run_threaded(calls_per_thread=5)
   def test_render_multiple_physics_instances_per_thread_parallel(self):
     physics1 = engine.Physics.from_xml_string(MODEL)

dm_control/render/glfw_renderer.py

@@ -19,20 +19,25 @@
 from __future__ import division
 from __future__ import print_function
 
+import sys
+
 # Internal dependencies.
 
 from dm_control.render import base
-import glfw
-
-_done_init_glfw = False
-
+import six
 
-def _maybe_init_glfw():
-  global _done_init_glfw
-  if not _done_init_glfw:
-    if not glfw.init():
-      raise OSError('Failed to initialize GLFW.')
-    _done_init_glfw = True
+# Re-raise any exceptions that occur during module import as `ImportError`s.
+# This simplifies the conditional imports in `render/__init__.py`.
+try:
+  import glfw  # pylint: disable=g-import-not-at-top
+except (ImportError, IOError, OSError) as exc:
+  _, exc, tb = sys.exc_info()
+  six.reraise(ImportError, ImportError(str(exc)), tb)
+try:
+  glfw.init()
+except glfw.GLFWError as exc:
+  _, exc, tb = sys.exc_info()
+  six.reraise(ImportError, ImportError(str(exc)), tb)
 
 
 class GLFWContext(base.ContextBase):
@@ -46,7 +51,6 @@ def __init__(self, max_width, max_height):
       max_height: Integer specifying the maximum framebuffer height in pixels.
     """
     super(GLFWContext, self).__init__()
-    _maybe_init_glfw()
     glfw.window_hint(glfw.VISIBLE, 0)
     glfw.window_hint(glfw.DOUBLEBUFFER, 0)
     self._context = glfw.create_window(width=max_width, height=max_height,

dm_control/render/glfw_renderer_test.py

@@ -19,27 +19,28 @@
 from __future__ import division
 from __future__ import print_function
 
-# Internal dependencies.
+import unittest
 
+# Internal dependencies.
 from absl.testing import absltest
-
-from dm_control.render import glfw_renderer
-
+from dm_control import render
 import mock
 
 MAX_WIDTH = 1024
 MAX_HEIGHT = 1024
-CONTEXT_PATH = glfw_renderer.__name__ + ".glfw"
+CONTEXT_PATH = render.__name__ + '.glfw_renderer.glfw'
 
 
+@unittest.skipUnless(render._GLFWRenderer,
+                     reason='GLFW renderer could not be imported.')
 @mock.patch(CONTEXT_PATH)
 class GLFWContextTest(absltest.TestCase):
 
   def setUp(self):
     self.context = mock.MagicMock()
 
     with mock.patch(CONTEXT_PATH):
-      self.renderer = glfw_renderer.GLFWContext(MAX_WIDTH, MAX_HEIGHT)
+      self.renderer = render.Renderer(MAX_WIDTH, MAX_HEIGHT)
 
   def tearDown(self):
     self.renderer._context = None
@@ -61,5 +62,5 @@ def test_freeing(self, mock_glfw):
     self.assertIsNone(self.renderer._previous_context)
 
 
-if __name__ == "__main__":
+if __name__ == '__main__':
   absltest.main()

dm_control/suite/utils/__init__.py

@@ -14,5 +14,3 @@
 # ============================================================================
 
 """Utility functions used in the control suite."""
-
-from dm_control.suite.utils import randomizers

dm_control/suite/wrappers/pixels_test.py

@@ -20,13 +20,14 @@
 from __future__ import print_function
 
 import collections
+import unittest
 
 # Internal dependencies.
 
 from absl.testing import absltest
 from absl.testing import parameterized
 
-
+from dm_control import render
 from dm_control.rl import environment
 from dm_control.rl import specs
 from dm_control.suite import cartpole
@@ -62,6 +63,7 @@ def observation_spec(self):
     return specs.ArraySpec(shape=(2,), dtype=np.float)
 
 
+@unittest.skipIf(render.DISABLED, reason=render.DISABLED_MESSAGE)
 class PixelsTest(parameterized.TestCase):
 
   @parameterized.parameters(True, False)

requirements.txt

@@ -8,4 +8,5 @@ nose==1.3.7
 numpy==1.13.3
 pillow==5.0.0
 pyparsing==2.2.0
+scipy==1.0.0
 six==1.11.0

setup.py

@@ -163,6 +163,7 @@ def run(self):
         'mock',
         'nose',
         'pillow',
+        'scipy',
     ],
     test_suite='nose.collector',
     packages=find_packages(),