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Add function mjs_sensorDim to user API.

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Note: change to (unreleased) contact sensor mjSpec API
PiperOrigin-RevId: 788507423
Change-Id: Ie639afb7ed01dc3f7bab43a3e812e8e0b0c67d07
This commit is contained in:
Yuval Tassa
2025-07-29 10:19:28 -07:00
committed by Copybara-Service
parent a771fc6c09
commit 46dc67b7eb
10 changed files with 149 additions and 73 deletions
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python/mujoco/specs_test.py
+29 -27
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@@ -20,7 +20,7 @@ import math
import os
import textwrap
import typing
import zipfile
import zipfile # pylint: disable=unused-import
from absl.testing import absltest
from etils import epath
@@ -542,7 +542,7 @@ class SpecsTest(absltest.TestCase):
spec.to_xml()
def test_modelname_default_class(self):
XML = textwrap.dedent("""\
xml = textwrap.dedent("""\
<mujoco model="test">
<compiler angle="radian"/>
@@ -573,7 +573,7 @@ class SpecsTest(absltest.TestCase):
spec.worldbody.add_geom(main)
spec.compile()
self.assertEqual(spec.to_xml(), XML)
self.assertEqual(spec.to_xml(), xml)
spec = mujoco.MjSpec()
spec.modelname = 'test'
@@ -588,7 +588,7 @@ class SpecsTest(absltest.TestCase):
self.assertEqual(geom2.classname.name, 'main')
spec.compile()
self.assertEqual(spec.to_xml(), XML)
self.assertEqual(spec.to_xml(), xml)
spec = mujoco.MjSpec()
spec.modelname = 'test'
@@ -604,7 +604,7 @@ class SpecsTest(absltest.TestCase):
geom2.classname = main # actually redundant, since main is always applied
spec.compile()
self.assertEqual(spec.to_xml(), XML)
self.assertEqual(spec.to_xml(), xml)
# test delete default
def1 = spec.find_default('def1')
@@ -1323,12 +1323,12 @@ class SpecsTest(absltest.TestCase):
def test_bad_contact_sensor(self):
test_cases = [
dict(
expected_error='dim must be positive in sensor',
expected_error='num (intprm[2]) must be positive in sensor',
sensor_params=dict(
type=mujoco.mjtSensor.mjSENS_CONTACT,
objtype=mujoco.mjtObj.mjOBJ_GEOM,
objname='sphere1',
dim=0,
intprm=[1, 0, 0],
),
),
dict(
@@ -1337,8 +1337,7 @@ class SpecsTest(absltest.TestCase):
type=mujoco.mjtSensor.mjSENS_CONTACT,
objtype=mujoco.mjtObj.mjOBJ_GEOM,
objname='sphere1',
dim=1,
intprm=[0, 0, 0],
intprm=[0, 0, 1],
),
),
dict(
@@ -1350,8 +1349,7 @@ class SpecsTest(absltest.TestCase):
type=mujoco.mjtSensor.mjSENS_CONTACT,
objtype=mujoco.mjtObj.mjOBJ_GEOM,
objname='sphere1',
dim=1,
intprm=[1 << 10, 0, 0],
intprm=[1 << 10, 0, 1],
),
),
dict(
@@ -1363,20 +1361,7 @@ class SpecsTest(absltest.TestCase):
type=mujoco.mjtSensor.mjSENS_CONTACT,
objtype=mujoco.mjtObj.mjOBJ_GEOM,
objname='sphere1',
dim=1,
intprm=[(1 << 10) | 1, 0, 0],
),
),
dict(
expected_error=(
'dim 2 not divisible by size 3 implied by data spec (intprm[0])'
),
sensor_params=dict(
type=mujoco.mjtSensor.mjSENS_CONTACT,
objtype=mujoco.mjtObj.mjOBJ_GEOM,
objname='sphere1',
dim=2,
intprm=[2, 0, 0], # force (size 3)
intprm=[(1 << 10) | 1, 0, 1],
),
),
dict(
@@ -1385,8 +1370,7 @@ class SpecsTest(absltest.TestCase):
type=mujoco.mjtSensor.mjSENS_CONTACT,
objtype=mujoco.mjtObj.mjOBJ_GEOM,
objname='sphere1',
dim=1,
intprm=[1, 4, 0],
intprm=[1, 4, 1],
),
),
dict(
@@ -1442,6 +1426,24 @@ class SpecsTest(absltest.TestCase):
with self.assertRaisesWithPredicateMatch(ValueError, error_predicate):
spec.compile()
def test_sensor_data_size(self):
spec = mujoco.MjSpec()
quat = spec.add_sensor(
name='framequat',
type=mujoco.mjtSensor.mjSENS_FRAMEQUAT,
objtype=mujoco.mjtObj.mjOBJ_BODY,
objname='world',
)
self.assertEqual(quat.get_data_size(), 4)
clock = spec.add_sensor(
name='clock',
type=mujoco.mjtSensor.mjSENS_CLOCK,
)
self.assertEqual(clock.get_data_size(), 1)
mj_model = spec.compile()
self.assertEqual(mj_model.sensor_dim[0], 4)
self.assertEqual(mj_model.sensor_dim[1], 1)
if __name__ == '__main__':
absltest.main()