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Move mjCWrap type to mjsWrap.

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PiperOrigin-RevId: 821851540
Change-Id: I53382a8a21312a96aea46eec130f43e7cad70f92
This commit is contained in:
Sam Haves
2025-10-20 16:27:59 -07:00
committed by Copybara-Service
parent 88ac02dad3
commit 59f14485e0
8 changed files with 111 additions and 27 deletions
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python/mujoco/introspect/structs.py
+5
View File
@@ -10142,6 +10142,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='element type',
),
StructFieldDecl(
name='type',
type=ValueType(name='mjtWrap'),
doc='wrap type',
),
StructFieldDecl(
name='info',
type=PointerType(
python/mujoco/specs_test.py
+64
View File
@@ -1491,5 +1491,69 @@ class SpecsTest(absltest.TestCase):
self.assertEqual(model.geom_matid[0], 1)
def test_tendon_path(self):
spec = mujoco.MjSpec()
body = spec.worldbody.add_body(name='body')
body.add_geom(name='body_geom', pos=[0, 0, 0], size=[.1, 0, 0])
body.add_site(name='site1', pos=[0, 0, 0])
body.add_site(name='site2', pos=[0, 0, -1])
body.add_site(name='site3', pos=[0, 0, -4])
body.add_site(name='site4', pos=[0, 1, -6])
spec.worldbody.add_geom(name='sphere', size=[.2, 0, 0], pos=[0, 0, -2])
spec.worldbody.add_geom(
name='cylinder',
type=mujoco.mjtGeom.mjGEOM_CYLINDER,
size=[0.1, 0.2, 0.3],
pos=[0, 0, -5]
)
body.add_joint(
name='joint1', type=mujoco.mjtJoint.mjJNT_HINGE, axis=[0, 1, 0]
)
body2 = spec.worldbody.add_body(name='body2', pos=[2, 0, 0])
body2.add_geom(name='body2_geom', pos=[0, 0, 0], size=[.1, 0, 0])
body2.add_joint(
name='joint2', type=mujoco.mjtJoint.mjJNT_HINGE, axis=[0, 1, 0]
)
spatial_tendon = spec.add_tendon()
fixed_tendon = spec.add_tendon()
wrap_site1 = spatial_tendon.wrap_site('site1')
wrap_site2 = spatial_tendon.wrap_site('site2')
wrap_pulley1 = spatial_tendon.wrap_pulley(2.0)
wrap_site3_1 = spatial_tendon.wrap_site('site3')
wrap_sphere = spatial_tendon.wrap_geom('sphere', '')
wrap_site4_1 = spatial_tendon.wrap_site('site4')
wrap_pulley2 = spatial_tendon.wrap_pulley(2.0)
wrap_site3_2 = spatial_tendon.wrap_site('site3')
wrap_cylinder = spatial_tendon.wrap_geom('cylinder', '')
wrap_site4_2 = spatial_tendon.wrap_site('site4')
wrap_joint1 = fixed_tendon.wrap_joint('joint1', 1.0)
wrap_joint2 = fixed_tendon.wrap_joint('joint2', 1.0)
# Wrap type for geom is only set during compilation.
spec.compile()
self.assertEqual(wrap_site1.type, mujoco.mjtWrap.mjWRAP_SITE)
self.assertEqual(wrap_site2.type, mujoco.mjtWrap.mjWRAP_SITE)
self.assertEqual(wrap_site3_1.type, mujoco.mjtWrap.mjWRAP_SITE)
self.assertEqual(wrap_site4_1.type, mujoco.mjtWrap.mjWRAP_SITE)
self.assertEqual(wrap_site3_2.type, mujoco.mjtWrap.mjWRAP_SITE)
self.assertEqual(wrap_site4_2.type, mujoco.mjtWrap.mjWRAP_SITE)
self.assertEqual(wrap_pulley1.type, mujoco.mjtWrap.mjWRAP_PULLEY)
self.assertEqual(wrap_sphere.type, mujoco.mjtWrap.mjWRAP_SPHERE)
self.assertEqual(wrap_cylinder.type, mujoco.mjtWrap.mjWRAP_CYLINDER)
self.assertEqual(wrap_pulley2.type, mujoco.mjtWrap.mjWRAP_PULLEY)
self.assertEqual(wrap_joint1.type, mujoco.mjtWrap.mjWRAP_JOINT)
self.assertEqual(wrap_joint2.type, mujoco.mjtWrap.mjWRAP_JOINT)
if __name__ == '__main__':
absltest.main()