Fixed MjSpec introspection with visual.rgba and visual.headlight. Added access to MjSpec.visual.global_.

2024-12-14 07:47:24 -05:00
parent 644dfc7fb5
commit 0cf5500b6a
3 changed files with 24 additions and 1 deletions
@@ -848,22 +848,31 @@ class SpecsTest(absltest.TestCase):
        <statistic meansize="0.05"/>
        <visual>
          <quality shadowsize="4096"/>
+          <headlight active="0"/>
+          <rgba camera="0 0 0 0"/>
        </visual>
      </mujoco>
    """)
    self.assertEqual(spec.option.timestep, 0.001)
    self.assertEqual(spec.stat.meansize, 0.05)
    self.assertEqual(spec.visual.quality.shadowsize, 4096)
+    self.assertEqual(spec.visual.headlight.active, 0)
+    self.assertEqual(spec.visual.global_, getattr(spec.visual, 'global'))
+    np.testing.assert_array_equal(spec.visual.rgba.camera, [0, 0, 0, 0])

    spec.option.timestep = 0.002
    spec.stat.meansize = 0.06
    spec.visual.quality.shadowsize = 8192
+    spec.visual.headlight.active = 1
+    spec.visual.rgba.camera = [1, 1, 1, 1]

    model = spec.compile()

    self.assertEqual(model.opt.timestep, 0.002)
    self.assertEqual(model.stat.meansize, 0.06)
    self.assertEqual(model.vis.quality.shadowsize, 8192)
+    self.assertEqual(model.vis.headlight.active, 1)
+    np.testing.assert_array_equal(model.vis.rgba.camera, [1, 1, 1, 1])

  def test_assign_list_element(self):
    spec = mujoco.MjSpec()