fix the setup for sim2sim #1
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Contributor
budzianowski
commented
Oct 16, 2024
•
budzianowski
commented
- add default position
- add force control flag
- add geom visual logic
- add e2e test
budzianowski
changed the title
codekansas
approved these changes
Oct 22, 2024
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+43
| @pytest.mark.slow | ||
| def test_conversion_no_frc_limit(tmpdir: Path) -> None: | ||
| urdf_path = Path(__file__).parent / "sample" / "robot.urdf" | ||
| mjcf_path = tmpdir / "robot.mjcf" | ||
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| convert_urdf_to_mjcf( | ||
| urdf_path=urdf_path, | ||
| mjcf_path=mjcf_path, | ||
| no_frc_limit=True, | ||
| copy_meshes=False, | ||
| default_position="0.0 0.0 0.63 0.0 0.0 0.0 1.0 -0.23 0.0 0.0 0.441 -0.258 -0.23 0.0 0.0 0.441 -0.258", | ||
| ) | ||
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| # Compare the outputted MJCF with the expected XML | ||
| expected_mjcf_path = Path(__file__).parent / "sample" / "robot_test.xml" | ||
| with open(mjcf_path, "r") as output_file, open(expected_mjcf_path, "r") as expected_file: | ||
| output_content = output_file.read() | ||
| expected_content = expected_file.read() | ||
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| assert output_content == expected_content, "The output MJCF does not match the expected XML." |
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