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Add better user error messages to Python renderer update_scene along with missing unit tests.

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PiperOrigin-RevId: 554482720
Change-Id: Ief3ba496fb5720668f98fb9d44a5c82e6a14b9cc
This commit is contained in:
Kyle Bayes
2023-08-07 08:21:47 -07:00
committed by Copybara-Service
parent 2d7d5319f7
commit 631b16e7ad
3 changed files with 66 additions and 15 deletions
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python/mujoco/renderer_test.py
+48 -3
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@@ -23,9 +23,54 @@ import numpy as np
@absltest.skipUnless(hasattr(mujoco, 'GLContext'),
'MuJoCo rendering is disabled')
class MuJoCoRendererTest(parameterized.TestCase):
def test_renderer_unknown_camera_name(self):
xml = """
<mujoco>
<worldbody>
<camera name="a"/>
</worldbody>
</mujoco>
"""
model = mujoco.MjModel.from_xml_string(xml)
data = mujoco.MjData(model)
renderer = mujoco.Renderer(model, 50, 50)
mujoco.mj_forward(model, data)
with self.assertRaisesRegex(ValueError, r'camera "b" does not exist'):
renderer.update_scene(data, 'b')
def test_renderer_camera_under_range(self):
xml = """
<mujoco>
<worldbody>
<camera name="a"/>
</worldbody>
</mujoco>
"""
model = mujoco.MjModel.from_xml_string(xml)
data = mujoco.MjData(model)
renderer = mujoco.Renderer(model, 50, 50)
mujoco.mj_forward(model, data)
with self.assertRaisesRegex(ValueError, '-2 is out of range'):
renderer.update_scene(data, -2)
def test_renderer_camera_over_range(self):
xml = """
<mujoco>
<worldbody>
<camera name="a"/>
</worldbody>
</mujoco>
"""
model = mujoco.MjModel.from_xml_string(xml)
data = mujoco.MjData(model)
renderer = mujoco.Renderer(model, 50, 50)
mujoco.mj_forward(model, data)
with self.assertRaisesRegex(ValueError, '1 is out of range'):
renderer.update_scene(data, 1)
def test_renderer_renders_scene(self):
xml = """
<mujoco>
<mujoco>
<worldbody>
<camera name="closeup" pos="0 -6 0" xyaxes="1 0 0 0 1 100"/>
<geom name="white_box" type="box" size="1 1 1" rgba="1 1 1 1"/>
@@ -50,7 +95,7 @@ class MuJoCoRendererTest(parameterized.TestCase):
def test_renderer_output_without_out(self):
xml = """
<mujoco>
<mujoco>
<worldbody>
<camera name="closeup" pos="0 -6 0" xyaxes="1 0 0 0 1 100"/>
<geom name="white_box" type="box" size="1 1 1" rgba="1 1 1 1"/>
@@ -82,7 +127,7 @@ class MuJoCoRendererTest(parameterized.TestCase):
def test_renderer_output_with_out(self):
xml = """
<mujoco>
<mujoco>
<worldbody>
<camera name="closeup" pos="0 -6 0" xyaxes="1 0 0 0 1 100"/>
<geom name="white_box" type="box" size="1 1 1" rgba="1 1 1 1"/>