Method testAdd

dm_control/mjcf/element_test.py:164–199

(self)

    test_invalid_attr_recursively(mujoco)

  def testAdd(self):
    mujoco = element.RootElement(model='test')

    # repeated elements
    body_foo_attributes = dict(name='foo', pos=[0, 1, 0], quat=[0, 1, 0, 0])
    body_foo = mujoco.worldbody.add('body', **body_foo_attributes)
    self.assertEqual(body_foo.tag, 'body')
    joint_foo_attributes = dict(name='foo', type='free')
    joint_foo = body_foo.add('joint', **joint_foo_attributes)
    self.assertEqual(joint_foo.tag, 'joint')
    self._test_properties(body_foo, parent=mujoco.worldbody, root=mujoco)
    self._test_attributes(body_foo, expected_values=body_foo_attributes)
    self._test_children(body_foo)
    self._test_properties(joint_foo, parent=body_foo, root=mujoco)
    self._test_attributes(joint_foo, expected_values=joint_foo_attributes)
    self._test_children(joint_foo)

    # non-repeated, on-demand elements
    self.assertIsNone(body_foo.inertial)
    body_foo_inertial_attributes = dict(mass=1.0, pos=[0, 0, 0])
    body_foo_inertial = body_foo.add('inertial', **body_foo_inertial_attributes)
    self._test_properties(body_foo_inertial, parent=body_foo, root=mujoco)
    self._test_attributes(body_foo_inertial,
                          expected_values=body_foo_inertial_attributes)
    self._test_children(body_foo_inertial)

    with self.assertRaisesRegex(ValueError, '<inertial> child already exists'):
      body_foo.add('inertial', **body_foo_inertial_attributes)

    # non-repeated, non-on-demand elements
    with self.assertRaisesRegex(ValueError, '<compiler> child already exists'):
      mujoco.add('compiler')
    self.assertIsNotNone(mujoco.compiler)
    with self.assertRaisesRegex(ValueError, '<default> child already exists'):
      mujoco.add('default')
    self.assertIsNotNone(mujoco.default)

  def testInsert(self):
    mujoco = element.RootElement(model='test')