def test_unibox():
"""Test that uniformized sim produce coherent results"""
check = True
cfg_ = cfg.copy(deep = True)
cfg_.motor = 'commonvelocity'
box = boxsim.UniformizeSim(boxsim.BoxSim(cfg_))
try:
order = [0.5] * 12 + [0.0]
toy_pos = box.execute_order(order)
check *= toy_pos[2] == 0.0
for _ in range(20):
order = [random.random() for _ in range(13)]
pos = box.execute_order(order)
if pos[2] == 0.0:
check *= toy_pos == pos
if pos[:2] == toy_pos[:2]:
check *= toy_pos[2] == pos[2]
check *= all(0 <= pos_i <= 1 for pos_i in pos)
except Exception as e:
traceback.print_exc()
check = False
box.close()
return check
import testenv
import random
from common import cfg
import boxsim
cfg.visu = False
cfg.debug = False
cfg.verbose = True
box = boxsim.UniformizeSim(boxsim.BoxSim(cfg))
try:
for _ in range(100):
order = [random.uniform(0.0, 1.0) for _ in range(13)]
print box.execute_order(order)
except Exception as e:
print e
box.close()
import testenv import random import boxsim from common import cfg cfg.motors = 'fullmotor' box = boxsim.BoxSim(cfg) #order = [random.uniform(bi_min, bi_max) for (bi_min, bi_max) in box.m_bounds] order = 6 * [0.0] + 6 * [0.2] + [1.0, 0.8, 0.6, 0.4, 0.2, 0.0] print box.execute_order(order) box.close()