Add contact frame visualisation.
This is useful when writing or modifying collision functions, when the actual direction of the x and y axes of a contact can be important. PiperOrigin-RevId: 437256700 Change-Id: I5eab737fc98018399e151552778c6109088bf614
This commit is contained in:
Yuval Tassa
committed by
Saran Tunyasuvunakool
Saran Tunyasuvunakool
parent
21338e6178
commit
d627374545
@@ -665,7 +665,7 @@ Euler integrator, semi-implicit in velocity.
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def test_enum_as_index(self):
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x = ['a', 'b', 'c', 'd', 'e', 'f', 'g', 'h', 'i', 'j', 'k']
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self.assertEqual(x[mujoco.mjtFrame.mjNFRAME], 'h')
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self.assertEqual(x[mujoco.mjtFrame.mjFRAME_WORLD], 'h')
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self.assertEqual(
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x[mujoco.mjtFrame.mjFRAME_GEOM:mujoco.mjtFrame.mjFRAME_CAMERA],
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['c', 'd'])
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@@ -673,83 +673,85 @@ Euler integrator, semi-implicit in velocity.
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def test_enum_ops(self):
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# Note: when modifying this test, make sure the enum value is an odd number
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# so that the division tests are correctly exercised.
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self.assertEqual(mujoco.mjtFrame.mjNFRAME, 7)
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self.assertEqual(mujoco.mjtFrame.mjNFRAME, 7.0)
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self.assertEqual(7, mujoco.mjtFrame.mjNFRAME)
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self.assertEqual(7.0, mujoco.mjtFrame.mjNFRAME)
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self.assertEqual(mujoco.mjtFrame.mjNFRAME, mujoco.mjtFrame.mjNFRAME)
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self.assertNotEqual(mujoco.mjtFrame.mjNFRAME, mujoco.mjtFrame.mjFRAME_NONE)
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self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD, 7)
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self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD, 7.0)
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self.assertEqual(7, mujoco.mjtFrame.mjFRAME_WORLD)
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self.assertEqual(7.0, mujoco.mjtFrame.mjFRAME_WORLD)
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self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD,
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mujoco.mjtFrame.mjFRAME_WORLD)
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self.assertNotEqual(mujoco.mjtFrame.mjFRAME_WORLD,
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mujoco.mjtFrame.mjFRAME_NONE)
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self.assertEqual(-mujoco.mjtFrame.mjNFRAME, -7)
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self.assertIsInstance(-mujoco.mjtFrame.mjNFRAME, int)
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self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD, -7)
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self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD, int)
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self.assertEqual(mujoco.mjtFrame.mjNFRAME + 1, 8)
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self.assertIsInstance(mujoco.mjtFrame.mjNFRAME + 1, int)
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self.assertEqual(2 + mujoco.mjtFrame.mjNFRAME, 9)
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self.assertIsInstance(2 + mujoco.mjtFrame.mjNFRAME, int)
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self.assertEqual(mujoco.mjtFrame.mjNFRAME + 1.75, 8.75)
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self.assertEqual(2.75 + mujoco.mjtFrame.mjNFRAME, 9.75)
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self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD + 1, 8)
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self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD + 1, int)
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self.assertEqual(2 + mujoco.mjtFrame.mjFRAME_WORLD, 9)
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self.assertIsInstance(2 + mujoco.mjtFrame.mjFRAME_WORLD, int)
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self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD + 1.75, 8.75)
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self.assertEqual(2.75 + mujoco.mjtFrame.mjFRAME_WORLD, 9.75)
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self.assertEqual(mujoco.mjtFrame.mjNFRAME - 2, 5)
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self.assertIsInstance(mujoco.mjtFrame.mjNFRAME - 2, int)
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self.assertEqual(8 - mujoco.mjtFrame.mjNFRAME, 1)
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self.assertIsInstance(8 - mujoco.mjtFrame.mjNFRAME, int)
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self.assertEqual(mujoco.mjtFrame.mjNFRAME - 2.25, 4.75)
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self.assertEqual(8.25 - mujoco.mjtFrame.mjNFRAME, 1.25)
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self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD - 2, 5)
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self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD - 2, int)
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self.assertEqual(8 - mujoco.mjtFrame.mjFRAME_WORLD, 1)
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self.assertIsInstance(8 - mujoco.mjtFrame.mjFRAME_WORLD, int)
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self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD - 2.25, 4.75)
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self.assertEqual(8.25 - mujoco.mjtFrame.mjFRAME_WORLD, 1.25)
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self.assertEqual(mujoco.mjtFrame.mjNFRAME * 3, 21)
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self.assertIsInstance(mujoco.mjtFrame.mjNFRAME * 3, int)
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self.assertEqual(3 * mujoco.mjtFrame.mjNFRAME, 21)
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self.assertIsInstance(3 * mujoco.mjtFrame.mjNFRAME, int)
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self.assertEqual(mujoco.mjtFrame.mjNFRAME * 3.5, 24.5)
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self.assertEqual(3.5 * mujoco.mjtFrame.mjNFRAME, 24.5)
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self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD * 3, 21)
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self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD * 3, int)
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self.assertEqual(3 * mujoco.mjtFrame.mjFRAME_WORLD, 21)
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self.assertIsInstance(3 * mujoco.mjtFrame.mjFRAME_WORLD, int)
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self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD * 3.5, 24.5)
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self.assertEqual(3.5 * mujoco.mjtFrame.mjFRAME_WORLD, 24.5)
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self.assertEqual(mujoco.mjtFrame.mjNFRAME / 2, 3.5)
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self.assertEqual(17.5 / mujoco.mjtFrame.mjNFRAME, 2.5)
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self.assertEqual(mujoco.mjtFrame.mjNFRAME // 2, 3)
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self.assertIsInstance(mujoco.mjtFrame.mjNFRAME // 2, int)
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self.assertEqual(-mujoco.mjtFrame.mjNFRAME // 2, -4)
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self.assertIsInstance(-mujoco.mjtFrame.mjNFRAME // 2, int)
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self.assertEqual(20 // mujoco.mjtFrame.mjNFRAME, 2)
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self.assertIsInstance(20 // mujoco.mjtFrame.mjNFRAME, int)
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self.assertEqual(-20 // mujoco.mjtFrame.mjNFRAME, -3)
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self.assertIsInstance(-20 // mujoco.mjtFrame.mjNFRAME, int)
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self.assertEqual(mujoco.mjtFrame.mjNFRAME // 2.0, 3)
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self.assertIsInstance(mujoco.mjtFrame.mjNFRAME // 2.0, float)
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self.assertEqual(-mujoco.mjtFrame.mjNFRAME // 2.0, -4)
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self.assertIsInstance(-mujoco.mjtFrame.mjNFRAME // 2.0, float)
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self.assertEqual(20.0 // mujoco.mjtFrame.mjNFRAME, 2)
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self.assertIsInstance(20.0 // mujoco.mjtFrame.mjNFRAME, float)
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self.assertEqual(-20 // mujoco.mjtFrame.mjNFRAME, -3)
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self.assertIsInstance(-20.0 // mujoco.mjtFrame.mjNFRAME, float)
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self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD / 2, 3.5)
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self.assertEqual(17.5 / mujoco.mjtFrame.mjFRAME_WORLD, 2.5)
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self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD // 2, 3)
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self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD // 2, int)
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self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD // 2, -4)
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self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD // 2, int)
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self.assertEqual(20 // mujoco.mjtFrame.mjFRAME_WORLD, 2)
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self.assertIsInstance(20 // mujoco.mjtFrame.mjFRAME_WORLD, int)
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self.assertEqual(-20 // mujoco.mjtFrame.mjFRAME_WORLD, -3)
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self.assertIsInstance(-20 // mujoco.mjtFrame.mjFRAME_WORLD, int)
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self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD // 2.0, 3)
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self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD // 2.0, float)
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self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD // 2.0, -4)
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self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD // 2.0, float)
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self.assertEqual(20.0 // mujoco.mjtFrame.mjFRAME_WORLD, 2)
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self.assertIsInstance(20.0 // mujoco.mjtFrame.mjFRAME_WORLD, float)
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self.assertEqual(-20 // mujoco.mjtFrame.mjFRAME_WORLD, -3)
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self.assertIsInstance(-20.0 // mujoco.mjtFrame.mjFRAME_WORLD, float)
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self.assertEqual(mujoco.mjtFrame.mjNFRAME % 4, 3)
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self.assertIsInstance(mujoco.mjtFrame.mjNFRAME % 4, int)
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self.assertEqual(-mujoco.mjtFrame.mjNFRAME % -4, -3)
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self.assertIsInstance(-mujoco.mjtFrame.mjNFRAME % -4, int)
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self.assertEqual(-mujoco.mjtFrame.mjNFRAME % 4, 1)
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self.assertIsInstance(-mujoco.mjtFrame.mjNFRAME % 4, int)
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self.assertEqual(mujoco.mjtFrame.mjNFRAME % -4, -1)
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self.assertIsInstance(mujoco.mjtFrame.mjNFRAME % -4, int)
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self.assertEqual(9 % mujoco.mjtFrame.mjNFRAME, 2)
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self.assertIsInstance(9 % mujoco.mjtFrame.mjNFRAME, int)
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self.assertEqual(-9 % -mujoco.mjtFrame.mjNFRAME, -2)
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self.assertIsInstance(-9 % -mujoco.mjtFrame.mjNFRAME, int)
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self.assertEqual(-9 % mujoco.mjtFrame.mjNFRAME, 5)
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self.assertIsInstance(-9 % mujoco.mjtFrame.mjNFRAME, int)
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self.assertEqual(9 % -mujoco.mjtFrame.mjNFRAME, -5)
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self.assertIsInstance(9 % -mujoco.mjtFrame.mjNFRAME, int)
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self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD % 4, 3)
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self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD % 4, int)
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self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD % -4, -3)
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self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD % -4, int)
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self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD % 4, 1)
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self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD % 4, int)
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self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD % -4, -1)
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self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD % -4, int)
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self.assertEqual(9 % mujoco.mjtFrame.mjFRAME_WORLD, 2)
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self.assertIsInstance(9 % mujoco.mjtFrame.mjFRAME_WORLD, int)
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self.assertEqual(-9 % -mujoco.mjtFrame.mjFRAME_WORLD, -2)
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self.assertIsInstance(-9 % -mujoco.mjtFrame.mjFRAME_WORLD, int)
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self.assertEqual(-9 % mujoco.mjtFrame.mjFRAME_WORLD, 5)
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self.assertIsInstance(-9 % mujoco.mjtFrame.mjFRAME_WORLD, int)
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self.assertEqual(9 % -mujoco.mjtFrame.mjFRAME_WORLD, -5)
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self.assertIsInstance(9 % -mujoco.mjtFrame.mjFRAME_WORLD, int)
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with self.assertRaises(ZeroDivisionError):
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_ = mujoco.mjtFrame.mjNFRAME / 0
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_ = mujoco.mjtFrame.mjFRAME_WORLD / 0
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with self.assertRaises(ZeroDivisionError):
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_ = 1 / mujoco.mjtFrame.mjFRAME_NONE
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with self.assertRaises(ZeroDivisionError):
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_ = mujoco.mjtFrame.mjNFRAME // 0
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_ = mujoco.mjtFrame.mjFRAME_WORLD // 0
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with self.assertRaises(ZeroDivisionError):
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_ = 1 // mujoco.mjtFrame.mjFRAME_NONE
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with self.assertRaises(ZeroDivisionError):
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_ = mujoco.mjtFrame.mjNFRAME % 0
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_ = mujoco.mjtFrame.mjFRAME_WORLD % 0
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with self.assertRaises(ZeroDivisionError):
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_ = 1 % mujoco.mjtFrame.mjFRAME_NONE
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