(self)
| 630 | self.assertTrue(subbody.is_removed) |
| 631 | |
| 632 | def testFind(self): |
| 633 | mujoco = parser.from_path(_TEST_MODEL_XML, resolve_references=False) |
| 634 | mujoco.model = 'model' |
| 635 | |
| 636 | submujoco = copy.copy(mujoco) |
| 637 | submujoco.model = 'submodel' |
| 638 | |
| 639 | subsubmujoco = copy.copy(mujoco) |
| 640 | subsubmujoco.model = 'subsubmodel' |
| 641 | |
| 642 | submujoco.find('site', 'attachment').attach(subsubmujoco) |
| 643 | mujoco.attach(submujoco) |
| 644 | |
| 645 | self.assertIsNotNone(mujoco.find('geom', 'b_0_0')) |
| 646 | self.assertIsNotNone(mujoco.find('body', 'b_0').find('geom', 'b_0_0')) |
| 647 | self.assertIsNone(mujoco.find('body', 'b_1').find('geom', 'b_0_0')) |
| 648 | |
| 649 | self.assertIsNone(mujoco.find('geom', 'nonexistent')) |
| 650 | self.assertIsNone(mujoco.find('geom', 'nonexistent/b_0_0')) |
| 651 | |
| 652 | self.assertEqual(mujoco.find('geom', 'submodel/b_0_0'), |
| 653 | submujoco.find('geom', 'b_0_0')) |
| 654 | self.assertEqual(mujoco.find('geom', 'submodel/subsubmodel/b_0_0'), |
| 655 | submujoco.find('geom', 'subsubmodel/b_0_0')) |
| 656 | self.assertEqual(submujoco.find('geom', 'subsubmodel/b_0_0'), |
| 657 | subsubmujoco.find('geom', 'b_0_0')) |
| 658 | |
| 659 | subsubmujoco.find('geom', 'b_0_0').name = 'foo' |
| 660 | self.assertIsNone(mujoco.find('geom', 'submodel/subsubmodel/b_0_0')) |
| 661 | self.assertIsNone(submujoco.find('geom', 'subsubmodel/b_0_0')) |
| 662 | self.assertIsNone(subsubmujoco.find('geom', 'b_0_0')) |
| 663 | self.assertEqual(mujoco.find('geom', 'submodel/subsubmodel/foo'), |
| 664 | submujoco.find('geom', 'subsubmodel/foo')) |
| 665 | self.assertEqual(submujoco.find('geom', 'subsubmodel/foo'), |
| 666 | subsubmujoco.find('geom', 'foo')) |
| 667 | |
| 668 | self.assertEqual(mujoco.find('actuator', 'b_0_0').root, mujoco) |
| 669 | self.assertEqual(mujoco.find('actuator', 'b_0_0').tag, 'velocity') |
| 670 | self.assertEqual(mujoco.find('actuator', 'b_0_0').joint, 'b_0_0') |
| 671 | |
| 672 | self.assertEqual(mujoco.find('actuator', 'submodel/b_0_0').root, submujoco) |
| 673 | self.assertEqual(mujoco.find('actuator', 'submodel/b_0_0').tag, 'velocity') |
| 674 | self.assertEqual(mujoco.find('actuator', 'submodel/b_0_0').joint, 'b_0_0') |
| 675 | |
| 676 | def testFindInvalidNamespace(self): |
| 677 | mjcf_model = mjcf.RootElement() |
nothing calls this directly
no test coverage detected