def testLoadXML(self):
with open(HUMANOID_XML_PATH, "r") as f:
xml_string = f.read()
model = core.MjModel.from_xml_string(xml_string)
core.MjData(model)
with self.assertRaises(TypeError):
core.MjModel()
with self.assertRaises(core.Error):
core.MjModel.from_xml_path("/path/to/nonexistent/model/file.xml")
xml_with_warning = """
<mujoco>
<size njmax='2'/>
<worldbody>
<body pos='0 0 0'>
<geom type='box' size='.1 .1 .1'/>
</body>
<body pos='0 0 0'>
<joint type='slide' axis='1 0 0'/>
<geom type='box' size='.1 .1 .1'/>
</body>
</worldbody>
</mujoco>"""
# This model should compile successfully, but raise a warning on the first
# simulation step.
model = core.MjModel.from_xml_string(xml_with_warning)
data = core.MjData(model)
with mock.patch.object(core, "logging") as mock_logging:
mjlib.mj_step(model.ptr, data.ptr)
mock_logging.warn.assert_called_once_with(
"Pre-allocated constraint buffer is full. Increase njmax above 2. "
"Time = 0.0000.")
def testLoadXML(self):
with open(HUMANOID_XML_PATH, "r") as f:
xml_string = f.read()
model = core.MjModel.from_xml_string(xml_string)
core.MjData(model)
with self.assertRaises(TypeError):
core.MjModel()
with self.assertRaises(core.Error):
core.MjModel.from_xml_path("/path/to/nonexistent/model/file.xml")
xml_with_warning = """
<mujoco>
<size njmax='2'/>
<worldbody>
<body pos='0 0 0'>
<geom type='box' size='.1 .1 .1'/>
</body>
<body pos='0 0 0'>
<joint type='slide' axis='1 0 0'/>
<geom type='box' size='.1 .1 .1'/>
</body>
</worldbody>
</mujoco>"""
with mock.patch.object(core, "logging") as mock_logging:
core.MjModel.from_xml_string(xml_with_warning)
mock_logging.warn.assert_called_once_with(
"Error: Pre-allocated constraint buffer is full. "
"Increase njmax above 2. Time = 0.0000.")
