Add optional kwarg inputs to mjSpec Python bindings for mjSpec add constructors.
PiperOrigin-RevId: 675929024 Change-Id: Idd8c584276d8f585b79585230f5167f79760eaef
This commit is contained in:
Taylor Howell
committed by
Copybara-Service
Copybara-Service
parent
4975c35657
commit
bfda9f4ace
+114
-3
@@ -102,6 +102,89 @@ class SpecsTest(absltest.TestCase):
|
||||
# Create a spec.
|
||||
spec = mujoco.MjSpec()
|
||||
|
||||
# Add material.
|
||||
material = spec.add_material(texrepeat=[1, 2], emission=-1)
|
||||
np.testing.assert_array_equal(material.texrepeat, [1, 2])
|
||||
self.assertEqual(material.emission, -1)
|
||||
|
||||
# Add mesh.
|
||||
mesh = spec.add_mesh(refpos=[1, 2, 3])
|
||||
np.testing.assert_array_equal(mesh.refpos, [1, 2, 3])
|
||||
|
||||
# Add pair.
|
||||
pair = spec.add_pair(gap=0.1)
|
||||
self.assertEqual(pair.gap, 0.1)
|
||||
|
||||
# Add equality.
|
||||
equality = spec.add_equality(objtype=mujoco.mjtObj.mjOBJ_SITE)
|
||||
self.assertEqual(equality.objtype, mujoco.mjtObj.mjOBJ_SITE)
|
||||
|
||||
# Add tendon.
|
||||
tendon = spec.add_tendon(stiffness=2, springlength=[0.1, 0.2])
|
||||
self.assertEqual(tendon.stiffness, 2)
|
||||
np.testing.assert_array_equal(tendon.springlength, [0.1, 0.2])
|
||||
|
||||
# Add actuator.
|
||||
actuator = spec.add_actuator(actdim=10, ctrlrange=[-1, 10])
|
||||
self.assertEqual(actuator.actdim, 10)
|
||||
np.testing.assert_array_equal(actuator.ctrlrange, [-1, 10])
|
||||
|
||||
# Add skin.
|
||||
skin = spec.add_skin(inflate=2.0, vertid=[[1, 1], [2, 2]])
|
||||
self.assertEqual(skin.inflate, 2.0)
|
||||
np.testing.assert_array_equal(skin.vertid, [[1, 1], [2, 2]])
|
||||
|
||||
# Add texture.
|
||||
texture = spec.add_texture(builtin=0, nchannel=3)
|
||||
self.assertEqual(texture.builtin, 0)
|
||||
self.assertEqual(texture.nchannel, 3)
|
||||
|
||||
# Add text.
|
||||
text = spec.add_text(data='data', info='info')
|
||||
self.assertEqual(text.data, 'data')
|
||||
self.assertEqual(text.info, 'info')
|
||||
|
||||
# Add tuple.
|
||||
tuple_ = spec.add_tuple(objprm=[2.0, 3.0, 5.0], objname=['obj'])
|
||||
np.testing.assert_array_equal(tuple_.objprm, [2.0, 3.0, 5.0])
|
||||
self.assertEqual(tuple_.objname, ['obj'])
|
||||
|
||||
# Add flex.
|
||||
flex = spec.add_flex(friction=[1, 2, 3], texcoord=[1.0, 2.0, 3.0])
|
||||
np.testing.assert_array_equal(flex.friction, [1, 2, 3])
|
||||
np.testing.assert_array_equal(flex.texcoord, [1.0, 2.0, 3.0])
|
||||
|
||||
# Add hfield.
|
||||
hfield = spec.add_hfield(nrow=2, content_type='type')
|
||||
self.assertEqual(hfield.nrow, 2)
|
||||
self.assertEqual(hfield.content_type, 'type')
|
||||
|
||||
# Add key.
|
||||
key = spec.add_key(time=1.2, qpos=[1.0, 2.0])
|
||||
self.assertEqual(key.time, 1.2)
|
||||
np.testing.assert_array_equal(key.qpos, [1.0, 2.0])
|
||||
|
||||
# Add numeric.
|
||||
numeric = spec.add_numeric(data=[1.0, 1.1, 1.2], size=2)
|
||||
np.testing.assert_array_equal(numeric.data, [1.0, 1.1, 1.2])
|
||||
self.assertEqual(numeric.size, 2)
|
||||
|
||||
# Add exclude.
|
||||
exclude = spec.add_exclude(bodyname2='body2')
|
||||
self.assertEqual(exclude.bodyname2, 'body2')
|
||||
|
||||
# Add sensor.
|
||||
sensor = spec.add_sensor(
|
||||
needstage=mujoco.mjtStage.mjSTAGE_ACC, objtype=mujoco.mjtObj.mjOBJ_SITE
|
||||
)
|
||||
self.assertEqual(sensor.needstage, mujoco.mjtStage.mjSTAGE_ACC)
|
||||
self.assertEqual(sensor.objtype, mujoco.mjtObj.mjOBJ_SITE)
|
||||
|
||||
# Add plugin.
|
||||
plugin = spec.add_plugin(plugin_slot=7, instance_name='plugin')
|
||||
self.assertEqual(plugin.plugin_slot, 7)
|
||||
self.assertEqual(plugin.instance_name, 'plugin')
|
||||
|
||||
# Add a body.
|
||||
body = spec.worldbody.add_body(
|
||||
name='body', pos=[1, 2, 3], quat=[0, 0, 0, 1]
|
||||
@@ -154,10 +237,38 @@ class SpecsTest(absltest.TestCase):
|
||||
self.assertEqual(cam.orthographic, 1)
|
||||
np.testing.assert_array_equal(cam.resolution, [10, 20])
|
||||
|
||||
# Add frame.
|
||||
framea0 = body.add_frame(name='framea', pos=[1, 2, 3], quat=[0, 0, 0, 1])
|
||||
np.testing.assert_array_equal(framea0.pos, [1, 2, 3])
|
||||
np.testing.assert_array_equal(framea0.quat, [0, 0, 0, 1])
|
||||
|
||||
frameb0 = body.add_frame(
|
||||
framea0, name='frameb', pos=[4, 5, 6], quat=[0, 1, 0, 0]
|
||||
)
|
||||
|
||||
framea1 = body.first_frame()
|
||||
frameb1 = body.next_frame(framea1)
|
||||
|
||||
self.assertEqual(framea1.name, framea0.name)
|
||||
self.assertEqual(frameb1.name, frameb0.name)
|
||||
np.testing.assert_array_equal(framea1.pos, framea0.pos)
|
||||
np.testing.assert_array_equal(framea1.quat, framea0.quat)
|
||||
np.testing.assert_array_equal(frameb1.pos, frameb0.pos)
|
||||
np.testing.assert_array_equal(frameb1.quat, frameb0.quat)
|
||||
|
||||
# Add joint.
|
||||
jnt = body.add_joint(type=mujoco.mjtJoint.mjJNT_HINGE, axis=[0, 1, 0])
|
||||
self.assertEqual(jnt.type, mujoco.mjtJoint.mjJNT_HINGE)
|
||||
np.testing.assert_array_equal(jnt.axis, [0, 1, 0])
|
||||
joint = body.add_joint(type=mujoco.mjtJoint.mjJNT_HINGE, axis=[0, 1, 0])
|
||||
self.assertEqual(joint.type, mujoco.mjtJoint.mjJNT_HINGE)
|
||||
np.testing.assert_array_equal(joint.axis, [0, 1, 0])
|
||||
|
||||
# Add freejoint.
|
||||
freejoint = body.add_freejoint()
|
||||
self.assertEqual(freejoint.type, mujoco.mjtJoint.mjJNT_FREE)
|
||||
freejoint_align = body.add_freejoint(align=True)
|
||||
self.assertEqual(freejoint_align.align, True)
|
||||
|
||||
with self.assertRaises(TypeError):
|
||||
body.add_freejoint(axis=[1, 2, 3]) # invalid keyword argument
|
||||
|
||||
# Add light.
|
||||
light = body.add_light(attenuation=[1, 2, 3])
|
||||
|
||||
Reference in New Issue
Block a user