| 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() |
|
|
