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Add further MJX bind tests to clarify dimensions.

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Fixes #2463.

PiperOrigin-RevId: 731674489
Change-Id: I9e21a2dd0b0636c94b2b917615889b9d721d542d
This commit is contained in:
Alessio Quaglino
2025-02-27 04:33:12 -08:00
committed by Copybara-Service
parent 9c31494fa1
commit 2abb2e2d5d
1 changed files with 6 additions and 0 deletions
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mjx/mujoco/mjx/_src/support_test.py
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@@ -200,6 +200,10 @@ class SupportTest(parameterized.TestCase):
# test getting
np.testing.assert_array_equal(mx.bind(s.bodies).pos, m.body_pos)
np.testing.assert_array_equal(dx.bind(mx, s.bodies).xpos, d.xpos)
np.testing.assert_array_equal(m.bind(s.bodies[0]).mass, m.body_mass[0])
np.testing.assert_array_equal(m.bind(s.bodies[0:1]).mass, [m.body_mass[0]])
np.testing.assert_array_equal(mx.bind(s.bodies[0]).mass, m.body_mass[0])
np.testing.assert_array_equal(mx.bind(s.bodies[0:1]).mass, [m.body_mass[0]])
for i in range(m.nbody):
np.testing.assert_array_equal(m.bind(s.bodies[i]).pos, m.body_pos[i, :])
np.testing.assert_array_equal(mx.bind(s.bodies[i]).pos, m.body_pos[i, :])
@@ -224,6 +228,8 @@ class SupportTest(parameterized.TestCase):
np.testing.assert_array_equal(mx.bind(s.joints).axis, m.jnt_axis)
np.testing.assert_array_equal(mx.bind(s.joints).qposadr, m.jnt_qposadr)
np.testing.assert_array_equal(mx.bind(s.joints).dofadr, m.jnt_dofadr)
np.testing.assert_array_equal(dx.bind(mx, s.joints[1]).id, 1)
np.testing.assert_array_equal(dx.bind(mx, s.joints[1:2]).id, [1])
qposnum = [4, 1, 1] # one ball joint (4) and two slide joints (1)
dofnum = [3, 1, 1] # one ball joint (3) and two slide joints (1)
for i in range(m.njnt):