Change set_default and default to classname in the bindings.
Having defaults in the names of the attribute or function names is confusing for the users since the defaults are not re-applied but are only used for writing to XML. The alternative would be to change mjs_setDefault to re-apply them, but this would overwrite any other attribute set by the user so far. PiperOrigin-RevId: 726431090 Change-Id: I41f4a23e1722e278b0ecc0a00b07db9b384fe994
This commit is contained in:
Alessio Quaglino
committed by
Copybara-Service
Copybara-Service
parent
89253d957d
commit
1b4258d274
+55
-73
@@ -595,16 +595,14 @@ PYBIND11_MODULE(_specs, m) {
|
||||
[](raw::MjsBody& self, raw::MjsFrame& frame) -> void {
|
||||
mjs_setFrame(self.element, &frame);
|
||||
});
|
||||
mjsBody.def("set_default",
|
||||
[](raw::MjsBody& self, raw::MjsDefault& default_) -> void {
|
||||
mjs_setDefault(self.element, &default_);
|
||||
});
|
||||
mjsBody.def(
|
||||
"default",
|
||||
mjsBody.def_property(
|
||||
"classname",
|
||||
[](raw::MjsBody& self) -> raw::MjsDefault* {
|
||||
return mjs_getDefault(self.element);
|
||||
},
|
||||
py::return_value_policy::reference_internal);
|
||||
[](raw::MjsBody& self, raw::MjsDefault& default_) -> void {
|
||||
mjs_setDefault(self.element, &default_);
|
||||
});
|
||||
mjsBody.def(
|
||||
"find_all",
|
||||
[](raw::MjsBody& self, mjtObj objtype) -> py::list {
|
||||
@@ -837,63 +835,60 @@ PYBIND11_MODULE(_specs, m) {
|
||||
mjsGeom.def("set_frame", [](raw::MjsGeom& self, raw::MjsFrame& frame) {
|
||||
mjs_setFrame(self.element, &frame);
|
||||
});
|
||||
mjsGeom.def("set_default", [](raw::MjsGeom& self, raw::MjsDefault& def) {
|
||||
mjs_setDefault(self.element, &def);
|
||||
});
|
||||
mjsGeom.def_property_readonly(
|
||||
"parent",
|
||||
[](raw::MjsGeom& self) -> raw::MjsBody* {
|
||||
return mjs_getParent(self.element);
|
||||
},
|
||||
py::return_value_policy::reference_internal);
|
||||
mjsGeom.def(
|
||||
"default",
|
||||
mjsGeom.def_property(
|
||||
"classname",
|
||||
[](raw::MjsGeom& self) -> raw::MjsDefault* {
|
||||
return mjs_getDefault(self.element);
|
||||
},
|
||||
py::return_value_policy::reference_internal);
|
||||
[](raw::MjsGeom& self, raw::MjsDefault& default_) -> void {
|
||||
mjs_setDefault(self.element, &default_);
|
||||
});
|
||||
|
||||
// ============================= MJSJOINT ====================================
|
||||
mjsJoint.def("delete", [](raw::MjsJoint& self) { mjs_delete(self.element); });
|
||||
mjsJoint.def("set_frame", [](raw::MjsJoint& self, raw::MjsFrame& frame) {
|
||||
mjs_setFrame(self.element, &frame);
|
||||
});
|
||||
mjsJoint.def("set_default", [](raw::MjsJoint& self, raw::MjsDefault& def) {
|
||||
mjs_setDefault(self.element, &def);
|
||||
});
|
||||
mjsJoint.def_property_readonly(
|
||||
"parent",
|
||||
[](raw::MjsJoint& self) -> raw::MjsBody* {
|
||||
return mjs_getParent(self.element);
|
||||
},
|
||||
py::return_value_policy::reference_internal);
|
||||
mjsJoint.def(
|
||||
"default",
|
||||
mjsJoint.def_property(
|
||||
"classname",
|
||||
[](raw::MjsJoint& self) -> raw::MjsDefault* {
|
||||
return mjs_getDefault(self.element);
|
||||
},
|
||||
py::return_value_policy::reference_internal);
|
||||
[](raw::MjsJoint& self, raw::MjsDefault& default_) -> void {
|
||||
mjs_setDefault(self.element, &default_);
|
||||
});
|
||||
|
||||
// ============================= MJSSITE =====================================
|
||||
mjsSite.def("delete", [](raw::MjsSite& self) { mjs_delete(self.element); });
|
||||
mjsSite.def("set_frame", [](raw::MjsSite& self, raw::MjsFrame& frame) {
|
||||
mjs_setFrame(self.element, &frame);
|
||||
});
|
||||
mjsSite.def("set_default", [](raw::MjsSite& self, raw::MjsDefault& def) {
|
||||
mjs_setDefault(self.element, &def);
|
||||
});
|
||||
mjsSite.def_property_readonly(
|
||||
"parent",
|
||||
[](raw::MjsSite& self) -> raw::MjsBody* {
|
||||
return mjs_getParent(self.element);
|
||||
},
|
||||
py::return_value_policy::reference_internal);
|
||||
mjsSite.def(
|
||||
"default",
|
||||
mjsSite.def_property(
|
||||
"classname",
|
||||
[](raw::MjsSite& self) -> raw::MjsDefault* {
|
||||
return mjs_getDefault(self.element);
|
||||
},
|
||||
py::return_value_policy::reference_internal);
|
||||
[](raw::MjsSite& self, raw::MjsDefault& default_) -> void {
|
||||
mjs_setDefault(self.element, &default_);
|
||||
});
|
||||
mjsSite.def(
|
||||
"attach_body",
|
||||
[](raw::MjsSite& self, raw::MjsBody& body,
|
||||
@@ -918,115 +913,102 @@ PYBIND11_MODULE(_specs, m) {
|
||||
mjsCamera.def("set_frame", [](raw::MjsCamera& self, raw::MjsFrame& frame) {
|
||||
mjs_setFrame(self.element, &frame);
|
||||
});
|
||||
mjsCamera.def("set_default", [](raw::MjsCamera& self, raw::MjsDefault& def) {
|
||||
mjs_setDefault(self.element, &def);
|
||||
});
|
||||
mjsCamera.def_property_readonly(
|
||||
"parent",
|
||||
[](raw::MjsCamera& self) -> raw::MjsBody* {
|
||||
return mjs_getParent(self.element);
|
||||
},
|
||||
py::return_value_policy::reference_internal);
|
||||
mjsCamera.def(
|
||||
"default",
|
||||
mjsCamera.def_property(
|
||||
"classname",
|
||||
[](raw::MjsCamera& self) -> raw::MjsDefault* {
|
||||
return mjs_getDefault(self.element);
|
||||
},
|
||||
py::return_value_policy::reference_internal);
|
||||
[](raw::MjsCamera& self, raw::MjsDefault& default_) -> void {
|
||||
mjs_setDefault(self.element, &default_);
|
||||
});
|
||||
|
||||
// ============================= MJSLIGHT ====================================
|
||||
mjsLight.def("delete", [](raw::MjsLight& self) { mjs_delete(self.element); });
|
||||
mjsLight.def("set_frame", [](raw::MjsLight& self, raw::MjsFrame& frame) {
|
||||
mjs_setFrame(self.element, &frame);
|
||||
});
|
||||
mjsLight.def("set_default", [](raw::MjsLight& self, raw::MjsDefault& def) {
|
||||
mjs_setDefault(self.element, &def);
|
||||
});
|
||||
mjsLight.def_property_readonly(
|
||||
"parent",
|
||||
[](raw::MjsLight& self) -> raw::MjsBody* {
|
||||
return mjs_getParent(self.element);
|
||||
},
|
||||
py::return_value_policy::reference_internal);
|
||||
mjsLight.def(
|
||||
"default",
|
||||
mjsLight.def_property(
|
||||
"classname",
|
||||
[](raw::MjsLight& self) -> raw::MjsDefault* {
|
||||
return mjs_getDefault(self.element);
|
||||
},
|
||||
py::return_value_policy::reference_internal);
|
||||
[](raw::MjsLight& self, raw::MjsDefault& default_) -> void {
|
||||
mjs_setDefault(self.element, &default_);
|
||||
});
|
||||
|
||||
// ============================= MJSMATERIAL =================================
|
||||
mjsMaterial.def("delete",
|
||||
[](raw::MjsMaterial& self) { mjs_delete(self.element); });
|
||||
mjsMaterial.def("set_default",
|
||||
[](raw::MjsMaterial& self, raw::MjsDefault& def) {
|
||||
mjs_setDefault(self.element, &def);
|
||||
});
|
||||
mjsMaterial.def(
|
||||
"default",
|
||||
mjsMaterial.def_property(
|
||||
"classname",
|
||||
[](raw::MjsMaterial& self) -> raw::MjsDefault* {
|
||||
return mjs_getDefault(self.element);
|
||||
},
|
||||
py::return_value_policy::reference_internal);
|
||||
[](raw::MjsMaterial& self, raw::MjsDefault& default_) -> void {
|
||||
mjs_setDefault(self.element, &default_);
|
||||
});
|
||||
|
||||
// ============================= MJSMESH =====================================
|
||||
mjsMesh.def("delete", [](raw::MjsMesh& self) { mjs_delete(self.element); });
|
||||
mjsMesh.def("set_default", [](raw::MjsMesh& self, raw::MjsDefault& def) {
|
||||
mjs_setDefault(self.element, &def);
|
||||
});
|
||||
mjsMesh.def(
|
||||
"default",
|
||||
mjsMesh.def_property(
|
||||
"classname",
|
||||
[](raw::MjsMesh& self) -> raw::MjsDefault* {
|
||||
return mjs_getDefault(self.element);
|
||||
},
|
||||
py::return_value_policy::reference_internal);
|
||||
[](raw::MjsMesh& self, raw::MjsDefault& default_) -> void {
|
||||
mjs_setDefault(self.element, &default_);
|
||||
});
|
||||
|
||||
// ============================= MJSPAIR =====================================
|
||||
mjsPair.def("delete", [](raw::MjsPair& self) { mjs_delete(self.element); });
|
||||
mjsPair.def("set_default", [](raw::MjsPair& self, raw::MjsDefault& def) {
|
||||
mjs_setDefault(self.element, &def);
|
||||
});
|
||||
mjsPair.def(
|
||||
"default",
|
||||
mjsPair.def_property(
|
||||
"classname",
|
||||
[](raw::MjsPair& self) -> raw::MjsDefault* {
|
||||
return mjs_getDefault(self.element);
|
||||
},
|
||||
py::return_value_policy::reference_internal);
|
||||
[](raw::MjsPair& self, raw::MjsDefault& default_) -> void {
|
||||
mjs_setDefault(self.element, &default_);
|
||||
});
|
||||
|
||||
// ============================= MJSEQUAL ====================================
|
||||
mjsEquality.def("delete",
|
||||
[](raw::MjsEquality& self) { mjs_delete(self.element); });
|
||||
mjsEquality.def("set_default",
|
||||
[](raw::MjsEquality& self, raw::MjsDefault& def) {
|
||||
mjs_setDefault(self.element, &def);
|
||||
});
|
||||
mjsEquality.def(
|
||||
"default",
|
||||
mjsEquality.def_property(
|
||||
"classname",
|
||||
[](raw::MjsEquality& self) -> raw::MjsDefault* {
|
||||
return mjs_getDefault(self.element);
|
||||
},
|
||||
py::return_value_policy::reference_internal);
|
||||
[](raw::MjsEquality& self, raw::MjsDefault& default_) -> void {
|
||||
mjs_setDefault(self.element, &default_);
|
||||
});
|
||||
|
||||
// ============================= MJSACTUATOR =================================
|
||||
mjsActuator.def("delete",
|
||||
[](raw::MjsActuator& self) { mjs_delete(self.element); });
|
||||
mjsActuator.def("set_default",
|
||||
[](raw::MjsActuator& self, raw::MjsDefault& def) {
|
||||
mjs_setDefault(self.element, &def);
|
||||
});
|
||||
mjsActuator.def(
|
||||
"default",
|
||||
mjsActuator.def_property(
|
||||
"classname",
|
||||
[](raw::MjsActuator& self) -> raw::MjsDefault* {
|
||||
return mjs_getDefault(self.element);
|
||||
},
|
||||
py::return_value_policy::reference_internal);
|
||||
[](raw::MjsActuator& self, raw::MjsDefault& default_) -> void {
|
||||
mjs_setDefault(self.element, &default_);
|
||||
});
|
||||
|
||||
// ============================= MJSTENDON ===================================
|
||||
mjsTendon.def("delete",
|
||||
[](raw::MjsTendon& self) { mjs_delete(self.element); });
|
||||
mjsTendon.def("set_default", [](raw::MjsTendon& self, raw::MjsDefault& def) {
|
||||
mjs_setDefault(self.element, &def);
|
||||
});
|
||||
mjsTendon.def(
|
||||
"default",
|
||||
[](raw::MjsTendon& self) -> raw::MjsDefault* {
|
||||
|
||||
+33
-36
@@ -528,22 +528,7 @@ class SpecsTest(absltest.TestCase):
|
||||
spec.to_xml()
|
||||
|
||||
def test_modelname_default_class(self):
|
||||
spec = mujoco.MjSpec()
|
||||
spec.modelname = 'test'
|
||||
|
||||
main = spec.default()
|
||||
main.geom.size[0] = 2
|
||||
|
||||
def1 = spec.add_default('def1', main)
|
||||
def1.geom.size[0] = 3
|
||||
|
||||
spec.worldbody.add_geom(def1)
|
||||
spec.worldbody.add_geom(main)
|
||||
|
||||
spec.compile()
|
||||
self.assertEqual(
|
||||
spec.to_xml(),
|
||||
textwrap.dedent("""\
|
||||
XML = textwrap.dedent("""\
|
||||
<mujoco model="test">
|
||||
<compiler angle="radian"/>
|
||||
|
||||
@@ -559,8 +544,8 @@ class SpecsTest(absltest.TestCase):
|
||||
<geom/>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
"""),
|
||||
)
|
||||
""")
|
||||
|
||||
spec = mujoco.MjSpec()
|
||||
spec.modelname = 'test'
|
||||
|
||||
@@ -574,26 +559,38 @@ class SpecsTest(absltest.TestCase):
|
||||
spec.worldbody.add_geom(main)
|
||||
|
||||
spec.compile()
|
||||
self.assertEqual(
|
||||
spec.to_xml(),
|
||||
textwrap.dedent("""\
|
||||
<mujoco model="test">
|
||||
<compiler angle="radian"/>
|
||||
self.assertEqual(spec.to_xml(), XML)
|
||||
spec = mujoco.MjSpec()
|
||||
spec.modelname = 'test'
|
||||
|
||||
<default>
|
||||
<geom size="2 0 0"/>
|
||||
<default class="def1">
|
||||
<geom size="3 0 0"/>
|
||||
</default>
|
||||
</default>
|
||||
main = spec.default()
|
||||
main.geom.size[0] = 2
|
||||
def1 = spec.add_default('def1', main)
|
||||
def1.geom.size[0] = 3
|
||||
|
||||
<worldbody>
|
||||
<geom class="def1"/>
|
||||
<geom/>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
"""),
|
||||
)
|
||||
geom1 = spec.worldbody.add_geom(def1)
|
||||
geom2 = spec.worldbody.add_geom()
|
||||
self.assertEqual(geom1.classname.name, 'def1')
|
||||
self.assertEqual(geom2.classname.name, 'main')
|
||||
|
||||
spec.compile()
|
||||
self.assertEqual(spec.to_xml(), XML)
|
||||
|
||||
spec = mujoco.MjSpec()
|
||||
spec.modelname = 'test'
|
||||
|
||||
main = spec.default()
|
||||
main.geom.size[0] = 2
|
||||
def1 = spec.add_default('def1', main)
|
||||
def1.geom.size[0] = 3
|
||||
|
||||
geom1 = spec.worldbody.add_geom(size=[3, 0, 0])
|
||||
geom2 = spec.worldbody.add_geom(size=[2, 0, 0])
|
||||
geom1.classname = def1
|
||||
geom2.classname = main # actually redundant, since main is always applied
|
||||
|
||||
spec.compile()
|
||||
self.assertEqual(spec.to_xml(), XML)
|
||||
|
||||
def test_element_list(self):
|
||||
spec = mujoco.MjSpec()
|
||||
|
||||
Reference in New Issue
Block a user