Method testSameness

dm_control/mjcf/element_test.py:228–274

(self)

    self.assertIsNone(mujoco.worldbody.find('body', 'foo'))

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

    body_1 = mujoco.worldbody.add('body', pos=[0, 1, 2], quat=[0, 1, 0, 1])
    site_1 = body_1.add('site', pos=[0, 1, 2], quat=[0, 1, 0, 1])
    geom_1 = body_1.add('geom', pos=[0, 1, 2], quat=[0, 1, 0, 1])

    for elem in (body_1, site_1, geom_1):
      self.assertIsSame(elem, elem)

    # strict ordering NOT required: adding geom and site is different order
    body_2 = mujoco.worldbody.add('body', pos=[0, 1, 2], quat=[0, 1, 0, 1])
    geom_2 = body_2.add('geom', pos=[0, 1, 2], quat=[0, 1, 0, 1])
    site_2 = body_2.add('site', pos=[0, 1, 2], quat=[0, 1, 0, 1])

    elems_1 = (body_1, site_1, geom_1)
    elems_2 = (body_2, site_2, geom_2)
    for i, j in itertools.product(range(len(elems_1)), range(len(elems_2))):
      if i == j:
        self.assertIsSame(elems_1[i], elems_2[j])
      else:
        self.assertIsNotSame(elems_1[i], elems_2[j])

    # on-demand child
    body_1.add('inertial', pos=[0, 0, 0], mass=1)
    self.assertIsNotSame(body_1, body_2)

    body_2.add('inertial', pos=[0, 0, 0], mass=1)
    self.assertIsSame(body_1, body_2)

    # different number of children
    subbody_1 = body_1.add('body', pos=[0, 0, 1])
    self.assertIsNotSame(body_1, body_2)

    # attribute mismatch
    subbody_2 = body_2.add('body')
    self.assertIsNotSame(subbody_1, subbody_2)
    self.assertIsNotSame(body_1, body_2)

    subbody_2.pos = [0, 0, 1]
    self.assertIsSame(subbody_1, subbody_2)
    self.assertIsSame(body_1, body_2)

    # grandchild attribute mismatch
    subbody_1.add('joint', type='hinge')
    subbody_2.add('joint', type='ball')
    self.assertIsNotSame(body_1, body_2)

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