Add crude broadphase impl.

PiperOrigin-RevId: 611643683 Change-Id: Id7816dadd7e9f1b8855268b815353c61540c4e0c
2024-02-29 17:11:30 -08:00
parent 8f1ea05bef
commit 419be4c605
10 changed files with 130 additions and 31 deletions
@@ -116,6 +116,20 @@ class SupportTest(parameterized.TestCase):

    np.testing.assert_almost_equal(qfrc, qfrc_expected, 6)

+  def test_custom_numeric(self):
+    xml = """
+    <mujoco model="right_shadow_hand">
+        <custom>
+          <numeric data="15" name="max_contact_points"/>
+          <numeric data="42" name="max_geom_pairs"/>
+        </custom>
+    </mujoco>
+    """
+    m = mujoco.MjModel.from_xml_string(xml)
+    self.assertEqual(support.get_custom_numeric(m, 'something'), -1)
+    self.assertEqual(support.get_custom_numeric(m, 'max_contact_points'), 15)
+    self.assertEqual(support.get_custom_numeric(m, 'max_geom_pairs'), 42)
+

 if __name__ == '__main__':
  absltest.main()