chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 10 Packages Projects Releases Wiki Activity

Add bind() method to MjModel and MjData.

Browse Source 
This method allows users to bind a spec to a model or data object, making it less verbose to access its arrays.

PiperOrigin-RevId: 699952211
Change-Id: I6b71a88d5a6968bc0f902bd49db7c568b46a4dfb
This commit is contained in:
Alessio Quaglino
2024-11-25 05:53:03 -08:00
committed by Copybara-Service
parent 13b6055098
commit c6ba8f27fd
6 changed files with 75 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files
python/mujoco/specs_test.py
+5 -2
View File
@@ -94,9 +94,12 @@ class SpecsTest(absltest.TestCase):
# Compile the spec and check for expected values in the model.
model = spec.compile()
data = mujoco.MjData(model)
mujoco.mj_forward(model, data)
self.assertEqual(model.nbody, 2) # 2 bodies, including the world body
np.testing.assert_array_equal(model.body('baz').pos, [1, 2, 3])
np.testing.assert_array_equal(model.body('baz').quat, [0, 1, 0, 0])
np.testing.assert_array_equal(model.bind(body).pos, [1, 2, 3])
np.testing.assert_array_equal(model.bind(body).quat, [0, 1, 0, 0])
np.testing.assert_array_equal(data.bind(body).xpos, [1, 2, 3])
self.assertEqual(model.nsite, 1)
self.assertEqual(model.nuser_site, 6)
np.testing.assert_array_equal(model.site_user[0], [1, 2, 3, 4, 5, 6])