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Add id and name properties to MjModel and MjData indexers.

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PiperOrigin-RevId: 476078133
Change-Id: I905cc8ec147ac595cd56f0a42e38013ae1ac6903
This commit is contained in:
Saran Tunyasuvunakool
2022-09-22 06:18:20 -07:00
committed by Copybara-Service
parent 6e256c03b7
commit c13979cd17
6 changed files with 213 additions and 61 deletions
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python/mujoco/bindings_test.py
+44
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@@ -265,6 +265,8 @@ class MuJoCoBindingsTest(parameterized.TestCase):
def test_named_indexing_repr_in_data(self):
expected_repr = '''<_MjDataGeomViews
id: 1
name: 'mybox'
xmat: array([0., 0., 0., 0., 0., 0., 0., 0., 0.])
xpos: array([0., 0., 0.])
>'''
@@ -1038,6 +1040,48 @@ Euler integrator, semi-implicit in velocity.
)
self._assert_attributes_equal(model2, self.model, attr_to_compare)
def test_indexer_name_id(self):
xml = r"""
<mujoco>
<worldbody>
<geom name="mygeom" size="1" pos="0 0 1"/>
<geom size="2" pos="0 0 2"/>
<geom size="3" pos="0 0 3"/>
<geom name="myothergeom" size="4" pos="0 0 4"/>
<geom size="5" pos="0 0 5"/>
</worldbody>
</mujoco>
"""
model = mujoco.MjModel.from_xml_string(xml)
self.assertEqual(model.geom('mygeom').id, 0)
self.assertEqual(model.geom('myothergeom').id, 3)
self.assertEqual(model.geom(0).name, 'mygeom')
self.assertEqual(model.geom(1).name, '')
self.assertEqual(model.geom(2).name, '')
self.assertEqual(model.geom(3).name, 'myothergeom')
self.assertEqual(model.geom(4).name, '')
self.assertEqual(model.geom(0).size[0], 1)
self.assertEqual(model.geom(1).size[0], 2)
self.assertEqual(model.geom(2).size[0], 3)
self.assertEqual(model.geom(3).size[0], 4)
self.assertEqual(model.geom(4).size[0], 5)
data = mujoco.MjData(model)
mujoco.mj_forward(model, data)
self.assertEqual(data.geom('mygeom').id, 0)
self.assertEqual(data.geom('myothergeom').id, 3)
self.assertEqual(data.geom(0).name, 'mygeom')
self.assertEqual(data.geom(1).name, '')
self.assertEqual(data.geom(2).name, '')
self.assertEqual(data.geom(3).name, 'myothergeom')
self.assertEqual(data.geom(4).name, '')
self.assertEqual(data.geom(0).xpos[2], 1)
self.assertEqual(data.geom(1).xpos[2], 2)
self.assertEqual(data.geom(2).xpos[2], 3)
self.assertEqual(data.geom(3).xpos[2], 4)
self.assertEqual(data.geom(4).xpos[2], 5)
def _assert_attributes_equal(self, actual_obj, expected_obj, attr_to_compare):
for name in attr_to_compare:
actual_value = getattr(actual_obj, name)