def testMJCFFeature(self):
mjcf_root = mjcf.from_xml_string(_MJCF)
physics = mjcf.Physics.from_mjcf_model(mjcf_root)
my_hinge = mjcf_root.find('joint', 'my_hinge')
hinge_observable = mjcf_observable.MJCFFeature(kind='qpos',
mjcf_element=my_hinge)
hinge_observation = hinge_observable.observation_callable(physics)()
np.testing.assert_array_equal(
hinge_observation,
physics.named.data.qpos[my_hinge.full_identifier])
small_sphere = mjcf_root.find('geom', 'small_sphere')
box_observable = mjcf_observable.MJCFFeature(kind='xpos',
mjcf_element=small_sphere,
update_interval=5)
box_observation = box_observable.observation_callable(physics)()
self.assertEqual(box_observable.update_interval, 5)
np.testing.assert_array_equal(
box_observation,
physics.named.data.geom_xpos[small_sphere.full_identifier])
my_box = mjcf_root.find('geom', 'my_box')
list_observable = mjcf_observable.MJCFFeature(
kind='xpos', mjcf_element=[my_box, small_sphere])
list_observation = (list_observable.observation_callable(physics)())
np.testing.assert_array_equal(
list_observation, physics.named.data.geom_xpos[[
my_box.full_identifier, small_sphere.full_identifier
]])
with self.assertRaisesRegexp(ValueError, 'expected an `mjcf.Element`'):
mjcf_observable.MJCFFeature('qpos', 'my_hinge')
with self.assertRaisesRegexp(ValueError, 'expected an `mjcf.Element`'):
mjcf_observable.MJCFFeature('geom_xpos', [my_box, 'small_sphere'])
def testMJCFFeatureIndex(self):
mjcf_root = mjcf.from_xml_string(_MJCF)
physics = mjcf.Physics.from_mjcf_model(mjcf_root)
small_sphere = mjcf_root.find('geom', 'small_sphere')
sphere_xmat = np.array(
physics.named.data.geom_xmat[small_sphere.full_identifier])
observable_xrow = mjcf_observable.MJCFFeature(
'xmat', small_sphere, index=[1, 3, 5, 7])
np.testing.assert_array_equal(
observable_xrow.observation_callable(physics)(),
sphere_xmat[[1, 3, 5, 7]])
observable_yyzz = mjcf_observable.MJCFFeature('xmat', small_sphere)[2:6]
np.testing.assert_array_equal(
observable_yyzz.observation_callable(physics)(), sphere_xmat[2:6])