chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Add parent to MjSpec wrapper in Python bindings.

Browse Source 
This keeps track of specs attached with the full attach function `attach`. It does not track fine-grained attach via `attach_body` and `attach_frame`.

PiperOrigin-RevId: 722597081
Change-Id: I56188f1718592128b7033538acc9a40553cbbed2
This commit is contained in:
Alessio Quaglino
2025-02-03 04:03:31 -08:00
committed by Copybara-Service
parent 86ace5e562
commit 6bd88711a8
2 changed files with 14 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
python/mujoco/specs_test.py
+4
View File
@@ -981,6 +981,7 @@ class SpecsTest(absltest.TestCase):
body2 = child2.worldbody.add_body(name='body')
self.assertIsNotNone(parent.attach(child2, site=site, prefix='child2-'))
self.assertIsNone(child2.worldbody)
self.assertEqual(child2.parent, parent)
body2.pos = [-1, -1, -1]
model2 = parent.compile()
self.assertIsNotNone(model2)
@@ -998,6 +999,7 @@ class SpecsTest(absltest.TestCase):
body3 = child3.worldbody.add_body(name='body')
self.assertIsNotNone(parent.attach(child3, site='site', prefix='child3-'))
self.assertIsNone(child3.worldbody)
self.assertEqual(child3.parent, parent)
body3.pos = [-2, -2, -2]
model3 = parent.compile()
self.assertIsNotNone(model3)
@@ -1050,6 +1052,7 @@ class SpecsTest(absltest.TestCase):
body2 = child2.worldbody.add_body(name='body')
self.assertIsNotNone(parent.attach(child2, frame=frame, prefix='child-'))
self.assertIsNone(child2.worldbody)
self.assertEqual(child2.parent, parent)
body2.pos = [-1, -1, -1]
model2 = parent.compile()
self.assertIsNotNone(model2)
@@ -1067,6 +1070,7 @@ class SpecsTest(absltest.TestCase):
body3 = child3.worldbody.add_body(name='body')
self.assertIsNotNone(parent.attach(child3, frame='frame', prefix='child3-'))
self.assertIsNone(child3.worldbody)
self.assertEqual(child3.parent, parent)
body3.pos = [-2, -2, -2]
model3 = parent.compile()
self.assertIsNotNone(model3)