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Python bindings: Add __repr__ implementations to grouped views.

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PiperOrigin-RevId: 457704673
Change-Id: Idf0d2132ce0872e6ae3eef319b4c3119ab769cd0
This commit is contained in:
Nimrod Gileadi
2022-06-28 05:22:38 -07:00
committed by Copybara-Service
parent e14cf7ddf1
commit 41bcf2d621
2 changed files with 26 additions and 5 deletions
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python/mujoco/bindings_test.py
+20 -1
View File
@@ -34,7 +34,7 @@ TEST_XML = r"""
</visual>
<worldbody>
<geom name="myplane" type="plane" size="10 10 1"/>
<body pos="0 0 0.1">
<body name="mybox" pos="0 0 0.1">
<geom name="mybox" type="box" size="0.1 0.1 0.1" mass="0.25"/>
<freejoint name="myfree"/>
</body>
@@ -263,6 +263,25 @@ class MuJoCoBindingsTest(parameterized.TestCase):
self.data.joint('myfree').cdof = 42
np.testing.assert_array_equal(self.data.cdof[dof_idx:dof_idx+6], [[42]*6]*6)
def test_named_indexing_repr_in_data(self):
expected_repr = '''<_MjDataGeomViews
xmat: array([0., 0., 0., 0., 0., 0., 0., 0., 0.])
xpos: array([0., 0., 0.])
>'''
self.assertEqual(expected_repr, repr(self.data.geom('mybox')))
def test_named_indexing_body_repr_in_data(self):
view_repr = repr(self.data.body('mybox'))
self.assertStartsWith(view_repr, '<_MjDataBodyViews')
self.assertIn('xpos: array([0., 0., 0.])', view_repr)
self.assertEndsWith(view_repr, '>')
def test_named_indexing_repr_in_model(self):
view_repr = repr(self.model.geom('mybox'))
self.assertStartsWith(view_repr, '<_MjModelGeomViews')
self.assertIn('size: array([0.1, 0.1, 0.1])', view_repr)
self.assertEndsWith(view_repr, '>')
def test_addresses_differ_between_structs(self):
model2 = mujoco.MjModel.from_xml_string(TEST_XML)
data2 = mujoco.MjData(model2)
python/mujoco/structs.cc
+6 -4
View File
@@ -1499,11 +1499,12 @@ This is useful for example when the MJB is not available as a file on disk.)"));
MJMODEL_VIEW_GROUPS_ALTNAMES
#undef XGROUP
#define XGROUP(MjModelGroupedViews, field, nfield, FIELD_XMACROS) \
{ \
using GroupedViews = MjModelGroupedViews; \
#define XGROUP(MjModelGroupedViews, field, nfield, FIELD_XMACROS) \
{ \
using GroupedViews = MjModelGroupedViews; \
py::class_<MjModelGroupedViews> groupedViews(m, "_" #MjModelGroupedViews); \
FIELD_XMACROS \
FIELD_XMACROS \
groupedViews.def("__repr__", StructRepr<GroupedViews>); \
}
#define X(type, prefix, var, dim0, dim1) \
groupedViews.def_property( \
@@ -1777,6 +1778,7 @@ This is useful for example when the MJB is not available as a file on disk.)"));
using GroupedViews = MjDataGroupedViews; \
py::class_<MjDataGroupedViews> groupedViews(m, "_" #MjDataGroupedViews); \
FIELD_XMACROS \
groupedViews.def("__repr__", StructRepr<GroupedViews>); \
}
#define X(type, prefix, var, dim0, dim1) \
groupedViews.def_property( \