@@ -108,10 +108,6 @@ def test_get_freejoint_dims(self):
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np .asarray (list (range (0 , 6 ))),
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)
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- def test_get_dof_ids_throws_error_if_joint_name_invalid (self ):
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- with self .assertRaises (InvalidJointName ):
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- utils .get_dof_ids (self .model , ["invalid_joint_name" ])
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-
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def test_get_dof_ids (self ):
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xml_str = """
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<mujoco>
@@ -123,8 +119,8 @@ def test_get_dof_ids(self):
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<joint type="hinge" name="hinge1" range="0 1.57"/>
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<geom type="sphere" size=".1" mass=".1"/>
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<body>
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- <joint type="hinge" name="hinge2" range="0 1.57"/>
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- <geom type="sphere" size=".1" mass=".1"/>
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+ <joint type="hinge" name="hinge2" range="0 1.57"/>
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+ <geom type="sphere" size=".1" mass=".1"/>
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</body>
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</body>
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</body>
@@ -134,6 +130,8 @@ def test_get_dof_ids(self):
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model = mujoco .MjModel .from_xml_string (xml_str )
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dof_ids = utils .get_dof_ids (model , ["ball" , "hinge2" ])
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np .testing .assert_allclose (dof_ids , [0 , 1 , 2 , 4 ])
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+ with self .assertRaises (InvalidJointName ):
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+ utils .get_dof_ids (model , ["invalid_joint_name" ])
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def test_get_subtree_geom_ids (self ):
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xml_str = """
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