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Allow keyword arguments in attach.

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PiperOrigin-RevId: 702718597
Change-Id: I1f1a5e9c88c8e102d5cbe5984511e7923ec7be3e
This commit is contained in:
Alessio Quaglino
2024-12-04 07:30:33 -08:00
committed by Copybara-Service
parent afc86ac1b3
commit d1b02556ef
2 changed files with 34 additions and 19 deletions
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python/mujoco/specs_test.py
+3 -3
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@@ -867,7 +867,7 @@ class SpecsTest(absltest.TestCase):
parent.compiler.degree = not child.compiler.degree
body = child.worldbody.add_body(euler=[90, 0, 0])
frame = parent.worldbody.add_frame(euler=[-mujoco.mjPI / 2, 0, 0])
frame.attach_body(body, 'child-', '')
frame.attach_body(body, prefix='child-')
model = parent.compile()
np.testing.assert_almost_equal(model.body_quat[1], [1, 0, 0, 0])
@@ -876,7 +876,7 @@ class SpecsTest(absltest.TestCase):
parent = mujoco.MjSpec()
site = parent.worldbody.add_site(pos=[1, 2, 3])
body = child.worldbody.add_body()
self.assertIsNotNone(site.attach(body, '_', ''))
self.assertIsNotNone(site.attach(body, prefix='_'))
model = parent.compile()
np.testing.assert_array_equal(model.body_pos[1], [1, 2, 3])
@@ -892,7 +892,7 @@ class SpecsTest(absltest.TestCase):
child.worldbody.add_camera(name='camera')
parent = mujoco.MjSpec()
frame = parent.worldbody.add_frame(name='frame')
frame.attach(child, 'child-', '')
frame.attach(child, prefix='child-')
self.assertLen(child.cameras, 1)
self.assertLen(parent.bodies, 1)
self.assertLen(parent.frames, 2)