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Remove id attribute from mjSpec objects in Python bindings.

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Using ids is error prone in scenarios of repeated attachment and detachment. Python users are encouraged to use names for unique identification of model elements.

PiperOrigin-RevId: 699227286
Change-Id: Ifd83e6d85d36ff72ea43caf8b82eab9e4d552440
This commit is contained in:
Alessio Quaglino
2024-11-22 11:04:20 -08:00
committed by Copybara-Service
parent 1d64362adc
commit 3a12db9ad2
4 changed files with 18 additions and 75 deletions
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python/mujoco/specs_test.py
+2 -9
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@@ -92,18 +92,11 @@ class SpecsTest(absltest.TestCase):
self.assertEqual(site.type, mujoco.mjtGeom.mjGEOM_BOX)
np.testing.assert_array_equal(site.userdata, [1, 2, 3, 4, 5, 6])
# 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(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])
np.testing.assert_array_equal(model.body('baz').pos, [1, 2, 3])
np.testing.assert_array_equal(model.body('baz').quat, [0, 1, 0, 0])
self.assertEqual(model.nsite, 1)
self.assertEqual(model.nuser_site, 6)
np.testing.assert_array_equal(model.site_user[0], [1, 2, 3, 4, 5, 6])