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Enable frames to create the same children as bodies.

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PiperOrigin-RevId: 822097998
Change-Id: I8477d8abe2d6f711421126825fd94d39af1a4e07
This commit is contained in:
Alessio Quaglino
2025-10-21 06:56:15 -07:00
committed by Copybara-Service
parent 09682ade4b
commit 056945df20
2 changed files with 40 additions and 1 deletions
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python/mujoco/specs_test.py
+14
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@@ -318,6 +318,14 @@ class SpecsTest(absltest.TestCase):
np.testing.assert_array_equal(frameb1.pos, frameb0.pos)
np.testing.assert_array_equal(frameb1.quat, frameb0.quat)
# Add frame in frame.
framec0 = frameb0.add_frame(name='framec', pos=[7, 8, 9], quat=[0, 0, 0, 1])
self.assertEqual(framec0.name, 'framec')
self.assertEqual(framec0.parent, frameb0.parent)
self.assertEqual(framec0.frame, frameb0)
np.testing.assert_array_equal(framec0.pos, [7, 8, 9])
np.testing.assert_array_equal(framec0.quat, [0, 0, 0, 1])
# Add joint.
joint = body.add_joint(type=mujoco.mjtJoint.mjJNT_HINGE, axis=[0, 1, 0])
self.assertEqual(joint.type, mujoco.mjtJoint.mjJNT_HINGE)
@@ -340,6 +348,12 @@ class SpecsTest(absltest.TestCase):
light = body.add_light(attenuation=[1, 2, 3])
np.testing.assert_array_equal(light.attenuation, [1, 2, 3])
# Add light in a frame.
light_in_frame = framea0.add_light(cutoff=10)
self.assertEqual(light_in_frame.cutoff, 10)
self.assertEqual(light_in_frame.parent, framea0.parent)
self.assertEqual(light_in_frame.frame, framea0)
# Invalid input for valid keyword argument.
with self.assertRaises(ValueError) as cm:
body.add_geom(pos='pos')