44 lines
1.2 KiB
Python
44 lines
1.2 KiB
Python
"""Headless smoke test for the canonical master MuJoCo model.
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This file used to launch an interactive viewer at import time, which made test
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discovery block or fail depending on the current working directory.
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"""
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from __future__ import annotations
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import unittest
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from pathlib import Path
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import mujoco
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CONFIG_ROOT = Path(__file__).resolve().parents[1] / "config"
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MASTER_MJCF = CONFIG_ROOT / "master_7dof.mjcf"
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MASTER_JOINT_NAMES = (
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"master_shoulder_pitch_joint",
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"master_shoulder_yaw_joint",
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"master_shoulder_roll_joint",
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"master_elbow_flex_joint",
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"master_wrist_roll_joint",
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"master_wrist_yaw_joint",
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"master_wrist_pitch_joint",
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)
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class MasterMujocoModelTest(unittest.TestCase):
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def test_canonical_model_loads_headlessly(self) -> None:
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model = mujoco.MjModel.from_xml_path(str(MASTER_MJCF))
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self.assertEqual(model.nq, 7)
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self.assertEqual(model.nv, 7)
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for name in MASTER_JOINT_NAMES:
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joint_id = mujoco.mj_name2id(
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model,
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mujoco.mjtObj.mjOBJ_JOINT,
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name,
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)
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self.assertGreaterEqual(joint_id, 0, name)
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if __name__ == "__main__":
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unittest.main()
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