chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Make "id" a property rather than a method of mjsElements in Python bindings.

Browse Source 
PiperOrigin-RevId: 649424035
Change-Id: I8226b3040aa2001ae9748399257e36ac263b7c8b
This commit is contained in:
Yuval Tassa
2024-07-04 08:34:35 -07:00
committed by Copybara-Service
parent f8b944bf7f
commit 118b6810b3
2 changed files with 90 additions and 85 deletions
Download Patch File Download Diff File Expand all files Collapse all files
python/mujoco/specs_test.py
+6 -4
View File
@@ -66,13 +66,15 @@ class SpecsTest(absltest.TestCase):
self.assertEqual(site.name, 'sitename')
np.testing.assert_array_equal(site.userdata, [1, 2, 3, 4, 5, 6])
# Check that the site has no id before compilation.
self.assertEqual(body.id(), -1)
# Check that the site and body have no id before compilation.
self.assertEqual(body.id, -1)
self.assertEqual(site.id, -1)
# Compile the spec and check for expected values in the model.
model = spec.compile()
self.assertEqual(spec.worldbody.id(), 0)
self.assertEqual(body.id(), 1)
self.assertEqual(spec.worldbody.id, 0)
self.assertEqual(body.id, 1)
self.assertEqual(site.id, 0)
self.assertEqual(model.nbody, 2) # 2 bodies, including the world body
np.testing.assert_array_equal(model.body_pos[1], [1, 2, 3])
np.testing.assert_array_equal(model.body_quat[1], [0, 1, 0, 0])