Add mjsPlugin and mjsOrientation related keyword argument support for mjSpec Python bindings.
PiperOrigin-RevId: 676412967 Change-Id: I8cc1bfcc443327fde33246981400b375f8d4ff3d
This commit is contained in:
Taylor Howell
committed by
Copybara-Service
Copybara-Service
parent
f4381e12a2
commit
6c7e1095c5
+134
-13
@@ -181,9 +181,18 @@ class SpecsTest(absltest.TestCase):
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self.assertEqual(sensor.objtype, mujoco.mjtObj.mjOBJ_SITE)
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# Add plugin.
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plugin = spec.add_plugin(plugin_slot=7, instance_name='plugin')
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plugin = spec.add_plugin(
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name='name',
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instance_name='instance',
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plugin_slot=7,
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active=True,
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info='info',
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)
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self.assertEqual(plugin.name, 'name')
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self.assertEqual(plugin.instance_name, 'instance')
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self.assertEqual(plugin.plugin_slot, 7)
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self.assertEqual(plugin.instance_name, 'plugin')
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self.assertEqual(plugin.active, True)
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self.assertEqual(plugin.info, 'info')
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# Add a body.
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body = spec.worldbody.add_body(
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@@ -193,6 +202,14 @@ class SpecsTest(absltest.TestCase):
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np.testing.assert_array_equal(body.pos, [1, 2, 3])
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np.testing.assert_array_equal(body.quat, [0, 0, 0, 1])
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# Add a body with a plugin.
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body_with_plugin = spec.worldbody.add_body(plugin=plugin)
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self.assertEqual(body_with_plugin.plugin.name, 'name')
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self.assertEqual(body_with_plugin.plugin.instance_name, 'instance')
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self.assertEqual(body_with_plugin.plugin.plugin_slot, 7)
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self.assertEqual(body_with_plugin.plugin.active, True)
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self.assertEqual(body_with_plugin.plugin.info, 'info')
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# Add a geom.
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geom = body.add_geom(
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name='geom',
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@@ -267,29 +284,133 @@ class SpecsTest(absltest.TestCase):
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freejoint_align = body.add_freejoint(align=True)
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self.assertEqual(freejoint_align.align, True)
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with self.assertRaises(TypeError):
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body.add_freejoint(axis=[1, 2, 3]) # invalid keyword argument
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with self.assertRaises(TypeError) as cm:
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body.add_freejoint(axis=[1, 2, 3])
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self.assertEqual(
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str(cm.exception),
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'Invalid axis keyword argument. Valid options are: align, group, name.',
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)
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# Add light.
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light = body.add_light(attenuation=[1, 2, 3])
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np.testing.assert_array_equal(light.attenuation, [1, 2, 3])
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# Invalid input for valid keyword argument.
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with self.assertRaises(ValueError):
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body.add_geom(pos='pos') # wrong type for array
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with self.assertRaises(ValueError) as cm:
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body.add_geom(pos='pos')
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self.assertEqual(
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str(cm.exception),
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'pos should be a list/array.',
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)
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with self.assertRaises(ValueError):
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body.add_geom(pos=[0, 1]) # wrong size
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with self.assertRaises(ValueError) as cm:
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body.add_geom(pos=[0, 1])
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self.assertEqual(
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str(cm.exception),
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'pos should be a list/array of size 3.',
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)
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with self.assertRaises(ValueError):
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body.add_geom(type='type') # wrong type for value
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with self.assertRaises(ValueError) as cm:
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body.add_geom(type='type')
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self.assertEqual(
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str(cm.exception),
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'type is the wrong type.',
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)
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with self.assertRaises(ValueError):
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body.add_geom(userdata='') # wrong type of vector
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with self.assertRaises(ValueError) as cm:
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body.add_geom(userdata='')
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self.assertEqual(
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str(cm.exception),
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'userdata has the wrong type.',
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)
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# Invalid keyword argument.
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with self.assertRaises(TypeError):
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with self.assertRaises(TypeError) as cm:
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body.add_geom(vel='vel')
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self.assertEqual(
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str(cm.exception),
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'Invalid vel keyword argument. Valid options are: name, type, pos,'
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' quat, axisangle, xyaxes, zaxis, euler, fromto, size, contype,'
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' conaffinity, condim, priority, friction, solmix, solref, solimp,'
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' margin, gap, mass, density, typeinertia, fluid_ellipsoid,'
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' fluid_coefs, material, rgba, group, hfieldname, meshname, fitscale,'
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' userdata, plugin, info.',
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)
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# Orientation keyword arguments.
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geom_axisangle = body.add_geom(axisangle=[1, 2, 3, 4])
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geom_xyaxes = body.add_geom(xyaxes=[1, 2, 3, 4, 5, 6])
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geom_zaxis = body.add_geom(zaxis=[1, 2, 3])
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geom_euler = body.add_geom(euler=[1, 2, 3])
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self.assertEqual(
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geom_axisangle.alt.type, mujoco.mjtOrientation.mjORIENTATION_AXISANGLE
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)
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self.assertEqual(
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geom_xyaxes.alt.type, mujoco.mjtOrientation.mjORIENTATION_XYAXES
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)
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self.assertEqual(
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geom_zaxis.alt.type, mujoco.mjtOrientation.mjORIENTATION_ZAXIS
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)
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self.assertEqual(
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geom_euler.alt.type, mujoco.mjtOrientation.mjORIENTATION_EULER
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)
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np.testing.assert_array_equal(geom_axisangle.alt.axisangle, [1, 2, 3, 4])
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np.testing.assert_array_equal(geom_xyaxes.alt.xyaxes, [1, 2, 3, 4, 5, 6])
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np.testing.assert_array_equal(geom_zaxis.alt.zaxis, [1, 2, 3])
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np.testing.assert_array_equal(geom_euler.alt.euler, [1, 2, 3])
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body_iaxisangle = spec.worldbody.add_body(iaxisangle=[1, 2, 3, 4])
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body_ixyaxes = spec.worldbody.add_body(ixyaxes=[1, 2, 3, 4, 5, 6])
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body_izaxis = spec.worldbody.add_body(izaxis=[1, 2, 3])
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body_ieuler = spec.worldbody.add_body(ieuler=[1, 2, 3])
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body_euler_ieuler = spec.worldbody.add_body(
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euler=[1, 2, 3], ieuler=[4, 5, 6]
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)
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np.testing.assert_array_equal(body_iaxisangle.ialt.axisangle, [1, 2, 3, 4])
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np.testing.assert_array_equal(body_ixyaxes.ialt.xyaxes, [1, 2, 3, 4, 5, 6])
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np.testing.assert_array_equal(body_izaxis.ialt.zaxis, [1, 2, 3])
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np.testing.assert_array_equal(body_ieuler.ialt.euler, [1, 2, 3])
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np.testing.assert_array_equal(body_euler_ieuler.alt.euler, [1, 2, 3])
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np.testing.assert_array_equal(body_euler_ieuler.ialt.euler, [4, 5, 6])
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# Test invalid orientation keyword arguments.
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with self.assertRaises(ValueError) as cm:
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body.add_geom(axisangle=[1, 2, 3])
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self.assertEqual(
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str(cm.exception),
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'axisangle should be a list/array of size 4.',
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)
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with self.assertRaises(ValueError) as cm:
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body.add_geom(xyaxes=[1, 2, 3, 4, 5])
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self.assertEqual(
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str(cm.exception),
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'xyaxes should be a list/array of size 6.',
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)
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with self.assertRaises(ValueError) as cm:
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body.add_geom(zaxis=[1, 2, 3, 4])
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self.assertEqual(
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str(cm.exception),
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'zaxis should be a list/array of size 3.',
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)
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with self.assertRaises(ValueError) as cm:
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body.add_geom(euler=[1])
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self.assertEqual(
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str(cm.exception),
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'euler should be a list/array of size 3.',
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)
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with self.assertRaises(ValueError) as cm:
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body.add_geom(axisangle=[1, 2, 3, 4], euler=[1, 2, 3])
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self.assertEqual(
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str(cm.exception),
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'Only one of: axisangle, xyaxes, zaxis, oreuler can be set.',
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)
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with self.assertRaises(ValueError) as cm:
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spec.worldbody.add_body(iaxisangle=[1, 2, 3, 4], ieuler=[1, 2, 3])
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self.assertEqual(
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str(cm.exception),
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'Only one of: iaxisangle, ixyaxes, izaxis, orieuler can be set.',
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)
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def test_load_xml(self):
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filename = '../../test/testdata/model.xml'
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