Method test_dirty

dm_control/mjcf/physics_test.py:256–292

(self)

      getattr(binding, 'invalid_attribute')

  def test_dirty(self):
    self.physics.forward()
    self.assertFalse(self.physics.is_dirty)

    joints, _ = self.sample_elements('joint', single_element=False)
    sites, _ = self.sample_elements('site', single_element=False)

    # Accessing qpos shouldn't trigger a recalculation.
    _ = self.physics.bind(joints).qpos
    self.assertFalse(self.physics.is_dirty)

    # Reassignments to qpos should cause the physics to become dirty.
    site_xpos_before = copy.deepcopy(self.physics.bind(sites).xpos)
    self.physics.bind(joints).qpos += 0.5
    self.assertTrue(self.physics.is_dirty)

    # Accessing stuff in mjModel shouldn't trigger a recalculation.
    _ = self.physics.bind(sites).pos
    self.assertTrue(self.physics.is_dirty)

    # Accessing stuff in mjData should trigger a recalculation.
    actual_sites_xpos_after = copy.deepcopy(self.physics.bind(sites).xpos)
    self.assertFalse(self.physics.is_dirty)
    self.assertFalse((actual_sites_xpos_after == site_xpos_before).all())

    # Automatic recalculation should render `forward` a no-op here.
    self.physics.forward()
    expected_sites_xpos_after = self.physics.bind(sites).xpos
    np.testing.assert_array_equal(actual_sites_xpos_after,
                                  expected_sites_xpos_after)

    # `forward` should not be called on subsequent queries to xpos.
    with mock.patch.object(
        self.physics, 'forward',
        side_effect=self.physics.forward) as mock_forward:
      _ = self.physics.bind(sites).xpos
      mock_forward.assert_not_called()

  @parameterized.parameters(True, False)
  def test_assign_while_dirty(self, assign_via_slice):