def test_get_set_state(self): s = System() j = FreeJoint('joint') s.add_leaf(j) s.setup() # State is [q_dofs, qd_dofs]. # Here we have 6 dofs: s.set_state([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12]) self.assertEqual(list(s.q.dofs), [1, 2, 3, 4, 5, 6]) self.assertEqual(list(s.qd.dofs), [7, 8, 9, 10, 11, 12]) s.q.dofs[2] = 100 s.qd.dofs[0] = -1 self.assertEqual(list(s.get_state()), [1, 2, 100, 4, 5, 6, -1, 8, 9, 10, 11, 12])