def test_resolve_defaults_for_some_attributes(self):
root = mjcf.RootElement()
root.default.geom.type = 'box'
root.default.geom.pos = [0, 1, 0]
geom1 = root.worldbody.add('geom')
mjcf.commit_defaults(geom1, attributes=['pos'])
self.assert_same_attributes(geom1, dict(pos=[0, 1, 0]))
def test_resolve_actuator_defaults(self):
root = mjcf.RootElement()
root.default.general.forcelimited = 'true'
root.default.motor.forcerange = [-2, 3]
root.default.position.kp = 0.1
root.default.velocity.kv = 0.2
body = root.worldbody.add('body')
joint = body.add('joint')
motor = root.actuator.add('motor', joint=joint)
mjcf.commit_defaults(motor)
self.assert_same_attributes(
motor, dict(joint=joint, forcelimited='true', forcerange=[-2, 3]))
position = root.actuator.add('position', joint=joint)
mjcf.commit_defaults(position)
self.assert_same_attributes(
position,
dict(joint=joint, kp=0.1, forcelimited='true', forcerange=[-2, 3]))
velocity = root.actuator.add('velocity', joint=joint)
mjcf.commit_defaults(velocity)
self.assert_same_attributes(
velocity,
dict(joint=joint, kv=0.2, forcelimited='true', forcerange=[-2, 3]))
def test_resolve_childclass(self):
root = mjcf.RootElement()
root.default.geom.type = 'capsule'
top = root.default.add('default', dclass='top')
top.geom.pos = [0, 1, 0]
sub = top.add('default', dclass='sub')
sub.geom.pos = [0, 0, 1]
# Element only affected by the childclass of immediate parent.
body = root.worldbody.add('body', childclass=sub)
geom1 = body.add('geom')
mjcf.commit_defaults(geom1)
self.assert_same_attributes(geom1, dict(type='capsule', pos=[0, 0, 1]))
# Element overrides parent's childclass.
geom2 = body.add('geom', dclass=top)
mjcf.commit_defaults(geom2)
self.assert_same_attributes(
geom2, dict(dclass=top, type='capsule', pos=[0, 1, 0]))
# Element's parent overrides grandparent's childclass.
subbody1 = body.add('body', childclass=top)
geom3 = subbody1.add('geom')
mjcf.commit_defaults(geom3)
self.assert_same_attributes(geom3, dict(type='capsule', pos=[0, 1, 0]))
# Element's grandparent does not specify a childclass, but grandparent does.
subbody2 = body.add('body')
geom4 = subbody2.add('geom')
mjcf.commit_defaults(geom4)
self.assert_same_attributes(geom4, dict(type='capsule', pos=[0, 0, 1]))
# Direct child of worldbody, not affected by any childclass.
geom5 = root.worldbody.add('geom')
mjcf.commit_defaults(geom5)
self.assert_same_attributes(geom5, dict(type='capsule'))
def test_resolve_root_defaults(self):
root = mjcf.RootElement()
root.default.geom.type = 'box'
root.default.geom.pos = [0, 1, 0]
root.default.joint.ref = 2
root.default.joint.pos = [0, 0, 1]
# Own attribute overriding default.
body = root.worldbody.add('body')
geom1 = body.add('geom', type='sphere')
mjcf.commit_defaults(geom1)
self.assert_same_attributes(geom1, dict(type='sphere', pos=[0, 1, 0]))
# No explicit attributes.
geom2 = body.add('geom')
mjcf.commit_defaults(geom2)
self.assert_same_attributes(geom2, dict(type='box', pos=[0, 1, 0]))
# Attributes mutually exclusive with those defined in default.
joint1 = body.add('joint', margin=3)
mjcf.commit_defaults(joint1)
self.assert_same_attributes(joint1, dict(pos=[0, 0, 1],
ref=2,
margin=3))
def test_resolve_hierarchies_of_defaults(self):
root = mjcf.RootElement()
root.default.geom.type = 'box'
root.default.joint.pos = [0, 1, 0]
top1 = root.default.add('default', dclass='top1')
top1.geom.pos = [0.1, 0, 0]
top1.joint.pos = [1, 0, 0]
top1.joint.axis = [0, 0, 1]
sub1 = top1.add('default', dclass='sub1')
sub1.geom.size = [0.5]
top2 = root.default.add('default', dclass='top2')
top2.joint.pos = [0, 0, 1]
top2.joint.axis = [0, 1, 0]
top2.geom.type = 'sphere'
body = root.worldbody.add('body')
geom1 = body.add('geom', dclass=sub1)
mjcf.commit_defaults(geom1)
self.assert_same_attributes(
geom1, dict(dclass=sub1, type='box', size=[0.5], pos=[0.1, 0, 0]))
geom2 = body.add('geom', dclass=top1)
mjcf.commit_defaults(geom2)
self.assert_same_attributes(
geom2, dict(dclass=top1, type='box', pos=[0.1, 0, 0]))
geom3 = body.add('geom', dclass=top2)
mjcf.commit_defaults(geom3)
self.assert_same_attributes(geom3, dict(dclass=top2, type='sphere'))
geom4 = body.add('geom')
mjcf.commit_defaults(geom4)
self.assert_same_attributes(geom4, dict(type='box'))
joint1 = body.add('joint', dclass=sub1)
mjcf.commit_defaults(joint1)
self.assert_same_attributes(
joint1, dict(dclass=sub1, pos=[1, 0, 0], axis=[0, 0, 1]))
joint2 = body.add('joint', dclass=top2)
mjcf.commit_defaults(joint2)
self.assert_same_attributes(
joint2, dict(dclass=top2, pos=[0, 0, 1], axis=[0, 1, 0]))
joint3 = body.add('joint')
mjcf.commit_defaults(joint3)
self.assert_same_attributes(joint3, dict(pos=[0, 1, 0]))