File size: 4,530 Bytes
cf8614b | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 | import unittest
import warnings
import tempfile
from tests.core import TestCore
from tests.core import ASSET_DIR
from pyrep.objects.object import Object
from pyrep.objects.shape import Shape
from pyrep.objects.dummy import Dummy
from pyrep.objects.joint import Joint
from pyrep.objects.proximity_sensor import ProximitySensor
from pyrep.objects.force_sensor import ForceSensor
from pyrep.objects.cartesian_path import CartesianPath
from pyrep.errors import WrongObjectTypeError
import os
from os import path
import numpy as np
class TestPyrep(TestCore):
def test_get_object_wrong_type(self):
with self.assertRaises(WrongObjectTypeError):
ProximitySensor('dynamic_cube')
def test_get_shape(self):
cube = Shape('dynamic_cube')
self.assertIsInstance(cube, Shape)
def test_get_joint(self):
cube = Joint('prismatic_joint')
self.assertIsInstance(cube, Joint)
def test_get_proximity_sensor(self):
cube = ProximitySensor('proximity_sensor')
self.assertIsInstance(cube, ProximitySensor)
def test_get_force_sensor(self):
cube = ForceSensor('force_sensor')
self.assertIsInstance(cube, ForceSensor)
def test_get_cartesian_path(self):
cube = CartesianPath('cartesian_path')
self.assertIsInstance(cube, CartesianPath)
def test_step(self):
cube = Shape('dynamic_cube')
start_pos = cube.get_position()
[self.pyrep.step() for _ in range(2)]
end_pos = cube.get_position()
self.assertFalse(np.allclose(start_pos, end_pos))
def test_load_model(self):
m = self.pyrep.import_model(path.join(ASSET_DIR, 'loadable_model.ttm'))
self.assertIsInstance(m, Shape)
def test_export_scene(self):
scene_file = tempfile.mktemp('.ttt')
self.pyrep.export_scene(scene_file)
os.remove(scene_file)
def test_group_objects(self):
top = Dummy('cubes_under_dummy')
self.assertEqual(
len(top.get_objects_in_tree(exclude_base=True)), 3)
cubes = [Shape('cube%d' % i) for i in range(3)]
ob = self.pyrep.group_objects(cubes)
self.assertIsInstance(ob, Object)
self.assertEqual(
len(top.get_objects_in_tree(exclude_base=True)), 1)
def test_merge_objects(self):
top = Dummy('cubes_under_dummy')
self.assertEqual(
len(top.get_objects_in_tree(exclude_base=True)), 3)
cubes = [Shape('cube%d' % i) for i in range(3)]
ob = self.pyrep.merge_objects(cubes)
self.assertIsInstance(ob, Object)
self.assertEqual(
len(top.get_objects_in_tree(exclude_base=True)), 1)
def test_set_configuration_tree(self):
dynamic_cube = Shape('dynamic_cube')
pos = dynamic_cube.get_position()
config = dynamic_cube.get_configuration_tree()
self.assertIsNotNone(config)
[self.pyrep.step() for _ in range(10)]
self.pyrep.set_configuration_tree(config)
self.assertTrue(np.allclose(pos, dynamic_cube.get_position()))
def test_create_texture_and_get_texture(self):
plane, texture = self.pyrep.create_texture(
path.join(ASSET_DIR, 'wood_texture.jpg'))
self.assertGreaterEqual(texture.get_texture_id(), 0)
self.assertEqual(texture.get_texture_id(),
plane.get_texture().get_texture_id())
def test_get_objects_in_tree(self):
objects = self.pyrep.get_objects_in_tree()
for obj in objects:
self.assertIsInstance(obj, Object)
dummys = [Dummy('nested_dummy%d' % i) for i in range(3)]
for root_obj in [dummys[0], dummys[0].get_handle()]:
objects = self.pyrep.get_objects_in_tree(
root_obj, exclude_base=False, first_generation_only=False)
self.assertListEqual(objects, dummys)
for obj in objects:
self.assertIs(type(obj), Dummy)
self.assertListEqual(
self.pyrep.get_objects_in_tree(
root_obj, exclude_base=True, first_generation_only=False),
dummys[1:])
self.assertListEqual(
self.pyrep.get_objects_in_tree(
root_obj, exclude_base=False,first_generation_only=True),
dummys[:-1])
def test_get_collection_by_name(self):
self.assertIsInstance(self.pyrep.get_collection_handle_by_name('Panda_arm'), int)
if __name__ == '__main__':
unittest.main()
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