Class _DefaultElement

dm_control/mjcf/element.py:1142–1183

Specialized object representing a element. This is necessary for the proper handling of global defaults.

class _DefaultElement(_ElementImpl):
  """Specialized object representing a <default> element.

  This is necessary for the proper handling of global defaults.
  """
  __slots__ = []

  def _attach(self, other, exclude_worldbody=False, dry_run=False):
    self._check_valid_attachment(other)
    if ((not isinstance(self._parent, RootElement))
        or (not isinstance(other.parent, RootElement))):
      raise ValueError('Only global <{}> can be attached'
                       .format(constants.DEFAULT))
    if not dry_run:
      self._attachments[other.namescope] = other

  def all_children(self):
    return [child for child in self._children]

  def to_xml(self, prefix_root=None, debug_context=None,
             *,
             precision=constants.XML_DEFAULT_PRECISION,
             zero_threshold=0,
             filename_with_hash=True):
    prefix_root = prefix_root or self.namescope
    xml_element = (super().to_xml(prefix_root, debug_context,
                                  precision=precision,
                                  zero_threshold=zero_threshold,
                                  filename_with_hash=filename_with_hash))
    if isinstance(self._parent, RootElement):
      root_default = etree.Element(self._spec.name)
      root_default.append(xml_element)
      for attachment in self._attachments.values():
        attachment_xml = attachment.to_xml(
            prefix_root, debug_context,
            precision=precision,
            zero_threshold=zero_threshold,
            filename_with_hash=filename_with_hash)
        for attachment_child_xml in attachment_xml:
          root_default.append(attachment_child_xml)
      xml_element = root_default
    return xml_element


class _ActuatorElement(_ElementImpl):