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Revert commit d627374545.

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This commit requires a new binary build, and therefore breaks compatibility with version 2.1.3.

Fixes #217.

Change-Id: I1e08b6fd2c468e3845e2166a1e4cc9d265de64de
This commit is contained in:
Saran Tunyasuvunakool
2022-03-31 11:50:42 +01:00
parent e1e0d5c435
commit 3c71720d83
4 changed files with 67 additions and 71 deletions
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include/mjvisualize.h
-1
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@@ -88,7 +88,6 @@ typedef enum mjtFrame_ { // frame visualization
mjFRAME_SITE, // site frames mjFRAME_SITE, // site frames
mjFRAME_CAMERA, // camera frames mjFRAME_CAMERA, // camera frames
mjFRAME_LIGHT, // light frames mjFRAME_LIGHT, // light frames
mjFRAME_CONTACT, // contact frames
mjFRAME_WORLD, // world frame mjFRAME_WORLD, // world frame
mjNFRAME // number of visualization frames mjNFRAME // number of visualization frames
introspect/enums.py
+2 -3
View File
@@ -569,9 +569,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
('mjFRAME_SITE', 3), ('mjFRAME_SITE', 3),
('mjFRAME_CAMERA', 4), ('mjFRAME_CAMERA', 4),
('mjFRAME_LIGHT', 5), ('mjFRAME_LIGHT', 5),
('mjFRAME_CONTACT', 6), ('mjFRAME_WORLD', 6),
('mjFRAME_WORLD', 7), ('mjNFRAME', 7),
('mjNFRAME', 8),
]), ]),
)), )),
('mjtVisFlag', ('mjtVisFlag',
python/mujoco/bindings_test.py
+64 -66
View File
@@ -665,7 +665,7 @@ Euler integrator, semi-implicit in velocity.
def test_enum_as_index(self): def test_enum_as_index(self):
x = ['a', 'b', 'c', 'd', 'e', 'f', 'g', 'h', 'i', 'j', 'k'] x = ['a', 'b', 'c', 'd', 'e', 'f', 'g', 'h', 'i', 'j', 'k']
self.assertEqual(x[mujoco.mjtFrame.mjFRAME_WORLD], 'h') self.assertEqual(x[mujoco.mjtFrame.mjNFRAME], 'h')
self.assertEqual( self.assertEqual(
x[mujoco.mjtFrame.mjFRAME_GEOM:mujoco.mjtFrame.mjFRAME_CAMERA], x[mujoco.mjtFrame.mjFRAME_GEOM:mujoco.mjtFrame.mjFRAME_CAMERA],
['c', 'd']) ['c', 'd'])
@@ -673,85 +673,83 @@ Euler integrator, semi-implicit in velocity.
def test_enum_ops(self): def test_enum_ops(self):
# Note: when modifying this test, make sure the enum value is an odd number # Note: when modifying this test, make sure the enum value is an odd number
# so that the division tests are correctly exercised. # so that the division tests are correctly exercised.
self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD, 7) self.assertEqual(mujoco.mjtFrame.mjNFRAME, 7)
self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD, 7.0) self.assertEqual(mujoco.mjtFrame.mjNFRAME, 7.0)
self.assertEqual(7, mujoco.mjtFrame.mjFRAME_WORLD) self.assertEqual(7, mujoco.mjtFrame.mjNFRAME)
self.assertEqual(7.0, mujoco.mjtFrame.mjFRAME_WORLD) self.assertEqual(7.0, mujoco.mjtFrame.mjNFRAME)
self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD, self.assertEqual(mujoco.mjtFrame.mjNFRAME, mujoco.mjtFrame.mjNFRAME)
mujoco.mjtFrame.mjFRAME_WORLD) self.assertNotEqual(mujoco.mjtFrame.mjNFRAME, mujoco.mjtFrame.mjFRAME_NONE)
self.assertNotEqual(mujoco.mjtFrame.mjFRAME_WORLD,
mujoco.mjtFrame.mjFRAME_NONE)
self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD, -7) self.assertEqual(-mujoco.mjtFrame.mjNFRAME, -7)
self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD, int) self.assertIsInstance(-mujoco.mjtFrame.mjNFRAME, int)
self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD + 1, 8) self.assertEqual(mujoco.mjtFrame.mjNFRAME + 1, 8)
self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD + 1, int) self.assertIsInstance(mujoco.mjtFrame.mjNFRAME + 1, int)
self.assertEqual(2 + mujoco.mjtFrame.mjFRAME_WORLD, 9) self.assertEqual(2 + mujoco.mjtFrame.mjNFRAME, 9)
self.assertIsInstance(2 + mujoco.mjtFrame.mjFRAME_WORLD, int) self.assertIsInstance(2 + mujoco.mjtFrame.mjNFRAME, int)
self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD + 1.75, 8.75) self.assertEqual(mujoco.mjtFrame.mjNFRAME + 1.75, 8.75)
self.assertEqual(2.75 + mujoco.mjtFrame.mjFRAME_WORLD, 9.75) self.assertEqual(2.75 + mujoco.mjtFrame.mjNFRAME, 9.75)
self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD - 2, 5) self.assertEqual(mujoco.mjtFrame.mjNFRAME - 2, 5)
self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD - 2, int) self.assertIsInstance(mujoco.mjtFrame.mjNFRAME - 2, int)
self.assertEqual(8 - mujoco.mjtFrame.mjFRAME_WORLD, 1) self.assertEqual(8 - mujoco.mjtFrame.mjNFRAME, 1)
self.assertIsInstance(8 - mujoco.mjtFrame.mjFRAME_WORLD, int) self.assertIsInstance(8 - mujoco.mjtFrame.mjNFRAME, int)
self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD - 2.25, 4.75) self.assertEqual(mujoco.mjtFrame.mjNFRAME - 2.25, 4.75)
self.assertEqual(8.25 - mujoco.mjtFrame.mjFRAME_WORLD, 1.25) self.assertEqual(8.25 - mujoco.mjtFrame.mjNFRAME, 1.25)
self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD * 3, 21) self.assertEqual(mujoco.mjtFrame.mjNFRAME * 3, 21)
self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD * 3, int) self.assertIsInstance(mujoco.mjtFrame.mjNFRAME * 3, int)
self.assertEqual(3 * mujoco.mjtFrame.mjFRAME_WORLD, 21) self.assertEqual(3 * mujoco.mjtFrame.mjNFRAME, 21)
self.assertIsInstance(3 * mujoco.mjtFrame.mjFRAME_WORLD, int) self.assertIsInstance(3 * mujoco.mjtFrame.mjNFRAME, int)
self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD * 3.5, 24.5) self.assertEqual(mujoco.mjtFrame.mjNFRAME * 3.5, 24.5)
self.assertEqual(3.5 * mujoco.mjtFrame.mjFRAME_WORLD, 24.5) self.assertEqual(3.5 * mujoco.mjtFrame.mjNFRAME, 24.5)
self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD / 2, 3.5) self.assertEqual(mujoco.mjtFrame.mjNFRAME / 2, 3.5)
self.assertEqual(17.5 / mujoco.mjtFrame.mjFRAME_WORLD, 2.5) self.assertEqual(17.5 / mujoco.mjtFrame.mjNFRAME, 2.5)
self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD // 2, 3) self.assertEqual(mujoco.mjtFrame.mjNFRAME // 2, 3)
self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD // 2, int) self.assertIsInstance(mujoco.mjtFrame.mjNFRAME // 2, int)
self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD // 2, -4) self.assertEqual(-mujoco.mjtFrame.mjNFRAME // 2, -4)
self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD // 2, int) self.assertIsInstance(-mujoco.mjtFrame.mjNFRAME // 2, int)
self.assertEqual(20 // mujoco.mjtFrame.mjFRAME_WORLD, 2) self.assertEqual(20 // mujoco.mjtFrame.mjNFRAME, 2)
self.assertIsInstance(20 // mujoco.mjtFrame.mjFRAME_WORLD, int) self.assertIsInstance(20 // mujoco.mjtFrame.mjNFRAME, int)
self.assertEqual(-20 // mujoco.mjtFrame.mjFRAME_WORLD, -3) self.assertEqual(-20 // mujoco.mjtFrame.mjNFRAME, -3)
self.assertIsInstance(-20 // mujoco.mjtFrame.mjFRAME_WORLD, int) self.assertIsInstance(-20 // mujoco.mjtFrame.mjNFRAME, int)
self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD // 2.0, 3) self.assertEqual(mujoco.mjtFrame.mjNFRAME // 2.0, 3)
self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD // 2.0, float) self.assertIsInstance(mujoco.mjtFrame.mjNFRAME // 2.0, float)
self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD // 2.0, -4) self.assertEqual(-mujoco.mjtFrame.mjNFRAME // 2.0, -4)
self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD // 2.0, float) self.assertIsInstance(-mujoco.mjtFrame.mjNFRAME // 2.0, float)
self.assertEqual(20.0 // mujoco.mjtFrame.mjFRAME_WORLD, 2) self.assertEqual(20.0 // mujoco.mjtFrame.mjNFRAME, 2)
self.assertIsInstance(20.0 // mujoco.mjtFrame.mjFRAME_WORLD, float) self.assertIsInstance(20.0 // mujoco.mjtFrame.mjNFRAME, float)
self.assertEqual(-20 // mujoco.mjtFrame.mjFRAME_WORLD, -3) self.assertEqual(-20 // mujoco.mjtFrame.mjNFRAME, -3)
self.assertIsInstance(-20.0 // mujoco.mjtFrame.mjFRAME_WORLD, float) self.assertIsInstance(-20.0 // mujoco.mjtFrame.mjNFRAME, float)
self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD % 4, 3) self.assertEqual(mujoco.mjtFrame.mjNFRAME % 4, 3)
self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD % 4, int) self.assertIsInstance(mujoco.mjtFrame.mjNFRAME % 4, int)
self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD % -4, -3) self.assertEqual(-mujoco.mjtFrame.mjNFRAME % -4, -3)
self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD % -4, int) self.assertIsInstance(-mujoco.mjtFrame.mjNFRAME % -4, int)
self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD % 4, 1) self.assertEqual(-mujoco.mjtFrame.mjNFRAME % 4, 1)
self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD % 4, int) self.assertIsInstance(-mujoco.mjtFrame.mjNFRAME % 4, int)
self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD % -4, -1) self.assertEqual(mujoco.mjtFrame.mjNFRAME % -4, -1)
self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD % -4, int) self.assertIsInstance(mujoco.mjtFrame.mjNFRAME % -4, int)
self.assertEqual(9 % mujoco.mjtFrame.mjFRAME_WORLD, 2) self.assertEqual(9 % mujoco.mjtFrame.mjNFRAME, 2)
self.assertIsInstance(9 % mujoco.mjtFrame.mjFRAME_WORLD, int) self.assertIsInstance(9 % mujoco.mjtFrame.mjNFRAME, int)
self.assertEqual(-9 % -mujoco.mjtFrame.mjFRAME_WORLD, -2) self.assertEqual(-9 % -mujoco.mjtFrame.mjNFRAME, -2)
self.assertIsInstance(-9 % -mujoco.mjtFrame.mjFRAME_WORLD, int) self.assertIsInstance(-9 % -mujoco.mjtFrame.mjNFRAME, int)
self.assertEqual(-9 % mujoco.mjtFrame.mjFRAME_WORLD, 5) self.assertEqual(-9 % mujoco.mjtFrame.mjNFRAME, 5)
self.assertIsInstance(-9 % mujoco.mjtFrame.mjFRAME_WORLD, int) self.assertIsInstance(-9 % mujoco.mjtFrame.mjNFRAME, int)
self.assertEqual(9 % -mujoco.mjtFrame.mjFRAME_WORLD, -5) self.assertEqual(9 % -mujoco.mjtFrame.mjNFRAME, -5)
self.assertIsInstance(9 % -mujoco.mjtFrame.mjFRAME_WORLD, int) self.assertIsInstance(9 % -mujoco.mjtFrame.mjNFRAME, int)
with self.assertRaises(ZeroDivisionError): with self.assertRaises(ZeroDivisionError):
_ = mujoco.mjtFrame.mjFRAME_WORLD / 0 _ = mujoco.mjtFrame.mjNFRAME / 0
with self.assertRaises(ZeroDivisionError): with self.assertRaises(ZeroDivisionError):
_ = 1 / mujoco.mjtFrame.mjFRAME_NONE _ = 1 / mujoco.mjtFrame.mjFRAME_NONE
with self.assertRaises(ZeroDivisionError): with self.assertRaises(ZeroDivisionError):
_ = mujoco.mjtFrame.mjFRAME_WORLD // 0 _ = mujoco.mjtFrame.mjNFRAME // 0
with self.assertRaises(ZeroDivisionError): with self.assertRaises(ZeroDivisionError):
_ = 1 // mujoco.mjtFrame.mjFRAME_NONE _ = 1 // mujoco.mjtFrame.mjFRAME_NONE
with self.assertRaises(ZeroDivisionError): with self.assertRaises(ZeroDivisionError):
_ = mujoco.mjtFrame.mjFRAME_WORLD % 0 _ = mujoco.mjtFrame.mjNFRAME % 0
with self.assertRaises(ZeroDivisionError): with self.assertRaises(ZeroDivisionError):
_ = 1 % mujoco.mjtFrame.mjFRAME_NONE _ = 1 % mujoco.mjtFrame.mjFRAME_NONE
sample/simulate.cc
+1 -1
View File
@@ -762,7 +762,7 @@ void makerendering(int oldstate) {
"Frame", "Frame",
2, 2,
&(vopt.frame), &(vopt.frame),
"None\nBody\nGeom\nSite\nCamera\nLight\nContact\nWorld" "None\nBody\nGeom\nSite\nCamera\nLight\nWorld"
}, },
{ {
mjITEM_BUTTON, mjITEM_BUTTON,