class DistanceFieldManagerTest(TestCase):
def setUp(self):
from prpy.planning.chomp import DistanceFieldManager
from openravepy import Environment
self.env = Environment()
self.env.Load('data/wamtest2.env.xml')
self.robot = self.env.GetRobot('BarrettWAM')
self.body = self.env.GetKinBody('mug-table')
self.bodies = set(self.env.GetBodies())
self.module = CHOMPModuleMock(self.env)
self.manager = DistanceFieldManager(self.module)
def test_GetGeometricState_ChangeEnabledStatusChangesState(self):
with self.env:
link = self.robot.GetLinks()[0]
link.Enable(True)
state_before = self.manager.get_geometric_state(self.robot)
link.Enable(False)
state_after = self.manager.get_geometric_state(self.robot)
self.assertNotEquals(state_after, state_before)
def test_GetGeometricState_ChangeInDOFValuesChangesState(self):
with self.env:
lower_limits, upper_limits = self.robot.GetDOFLimits()
self.robot.SetDOFValues(lower_limits)
state_before = self.manager.get_geometric_state(self.robot)
self.robot.SetDOFValues(upper_limits)
state_after = self.manager.get_geometric_state(self.robot)
self.assertNotEquals(state_after, state_before)
def test_GetGeometricState_ChangeInKinematicsGeometryHashChangesState(self):
self.robot.GetKinematicsGeometryHash = lambda: 'mock_before'
state_before = self.manager.get_geometric_state(self.robot)
self.robot.GetKinematicsGeometryHash = lambda: 'mock_after'
state_after = self.manager.get_geometric_state(self.robot)
self.assertNotEquals(state_after, state_before)
def test_GetCachePath_DifferentStatesProduceDifferentPaths(self):
self.robot.GetKinematicsGeometryHash = lambda: 'mock_before'
state_before = self.manager.get_geometric_state(self.robot)
path_before = self.manager.get_cache_path(state_before)
self.robot.GetKinematicsGeometryHash = lambda: 'mock_after'
state_after = self.manager.get_geometric_state(self.robot)
path_after = self.manager.get_cache_path(state_after)
self.assertNotEquals(path_after, path_before)
def test_Sync_InitiallyCreatesAllDistanceFields(self):
self.manager.sync(self.robot)
computed_bodies = [ args['kinbody'] for args in self.module.computedistancefield_args ]
self.assertItemsEqual(self.bodies, computed_bodies)
self.assertEqual(len(self.module.removefield_args), 0)
def test_Sync_SyncTwiceDoesNothing(self):
self.manager.sync(self.robot)
del self.module.computedistancefield_args[:]
del self.module.removefield_args[:]
self.manager.sync(self.robot)
self.assertEqual(len(self.module.computedistancefield_args), 0)
self.assertEqual(len(self.module.removefield_args), 0)
def test_Sync_IgnoresActiveRobotLinks(self):
self.is_processed = False
def computedistancefield(kinbody=None, cube_extent=None,
aabb_padding=None, cache_filename=None,
releasegil=False, **kw_args):
if kinbody.GetName() == self.robot.GetName():
self.assertTrue(self.robot.GetLink('segway').IsEnabled())
self.assertTrue(self.robot.GetLink('wam0').IsEnabled())
self.assertTrue(self.robot.GetLink('wam1').IsEnabled())
self.assertTrue(self.robot.GetLink('wam2').IsEnabled())
self.assertTrue(self.robot.GetLink('wam3').IsEnabled())
self.assertFalse(self.robot.GetLink('wam4').IsEnabled())
self.assertFalse(self.robot.GetLink('wam5').IsEnabled())
self.assertFalse(self.robot.GetLink('wam6').IsEnabled())
self.assertFalse(self.robot.GetLink('wam7').IsEnabled())
self.assertFalse(self.robot.GetLink('handbase').IsEnabled())
self.assertFalse(self.robot.GetLink('Finger0-0').IsEnabled())
self.assertFalse(self.robot.GetLink('Finger0-1').IsEnabled())
self.assertFalse(self.robot.GetLink('Finger0-2').IsEnabled())
self.assertFalse(self.robot.GetLink('Finger1-0').IsEnabled())
self.assertFalse(self.robot.GetLink('Finger1-1').IsEnabled())
self.assertFalse(self.robot.GetLink('Finger1-2').IsEnabled())
self.assertFalse(self.robot.GetLink('Finger2-1').IsEnabled())
self.assertFalse(self.robot.GetLink('Finger2-2').IsEnabled())
self.is_processed = True
dof_index = self.robot.GetJoint('Elbow').GetDOFIndex()
self.robot.SetActiveDOFs([ dof_index ])
self.robot.Enable(True)
self.module.computedistancefield = computedistancefield
self.manager.sync(self.robot)
self.assertTrue(self.is_processed)
def test_Sync_RecomputesDistanceFieldIfStateChanges(self):
self.manager.sync(self.robot)
del self.module.computedistancefield_args[:]
del self.module.removefield_args[:]
# Change the geometry to invalidate the key.
link = self.robot.GetLink('segway')
link.SetGroupGeometries('test', [])
link.SetGeometriesFromGroup('test')
self.manager.sync(self.robot)
self.assertEqual(len(self.module.computedistancefield_args), 1)
self.assertEqual(self.module.computedistancefield_args[0]['kinbody'], self.robot)
self.assertEqual(len(self.module.removefield_args), 1)
self.assertEqual(self.module.removefield_args[0]['kinbody'], self.robot)
self.assertLess(self.module.removefield_args[0]['__sequence__'],
self.module.computedistancefield_args[0]['__sequence__'])
class Turbine:
""" This class provides a configuration file loading for the whole turbine environment,
plus manipulation of the active elements of the turbine (robot/rail)
and their interacting (collision)
Args:
config: (TurbineConfig) configuration file object.
"""
env = None
config = None
# std names for printing propouses
std_name = {
_PRIMARY_RAIL: "primary rail",
_SECONDARY_RAIL: "secondary rail",
_BLADE: "blade",
_RUNNER_AREA: "runner area",
_IRIS: "iris",
_ROTOR: "rotor"
}
def __init__(self, config):
self.config = config
# Create OpenRave environment
RaveInitialize(True, 0)
self.env = Environment()
self.env.Load(config.environment.load)
self.robot = self.env.GetRobots()[0]
self.manipulator = self.robot.GetActiveManipulator()
ikmodel = databases.inversekinematics.InverseKinematicsModel(
robot=self.robot, iktype=IkParameterization.Type.Transform6D)
if not ikmodel.load():
ikmodel.autogenerate()
# Principal turbine elements linked to attributes
self.bodies = self.env.GetBodies()
try:
self.rotor = next(body for body in self.bodies
if body.GetName() == _ROTOR)
except StopIteration:
raise XMLStructError(_ROTOR)
try:
self.iris = next(body for body in self.bodies
if body.GetName() == _IRIS)
except StopIteration:
raise XMLStructError(_IRIS)
try:
self.runner_area = next(body for body in self.bodies
if body.GetName() == _RUNNER_AREA)
except StopIteration:
raise XMLStructError(_RUNNER_AREA)
try:
self.primary = next(body for body in self.bodies
if body.GetName() == _PRIMARY_RAIL)
except StopIteration:
raise XMLStructError(_PRIMARY_RAIL)
try:
self.secondary = next(body for body in self.bodies
if body.GetName() == _SECONDARY_RAIL)
except StopIteration:
raise XMLStructError(_SECONDARY_RAIL)
blade_number = 1
try:
self.blades = [
next(body for body in self.bodies
if body.GetName() == _BLADE + str(blade_number))
]
except StopIteration:
raise XMLStructError(_BLADE + str(blade_number))
blade_found = True
while blade_found:
blade_number += 1
try:
self.blades.append(
next(body for body in self.bodies
if body.GetName() == _BLADE + str(blade_number)))
except StopIteration:
blade_found = False
def place_rail(self, rail_place):
""" Place both rails in the environment
Args:
rail_place: (RailPlace) rail object.
"""
# P - primary rail,
# S - secondary rail,
# alpha - angle from the perpendicular to the primary rail
# Using camera standard axis and transformLookat for rails
# Primary Rail
primary_extent = self.primary.GetLinks()[0].GetGeometries(
)[0].GetBoxExtents()
primary_offset = array([
0, -primary_extent[1], -primary_extent[2]
]) + array([0, 0, self.config.environment.primary_safe_margin])
primary_offset_transform = eye(4)
primary_offset_transform[0:3, 3] = primary_offset
# Secondary Rail
secondary_extent = self.secondary.GetLinks()[0].GetGeometries(
)[0].GetBoxExtents()
# Resizing
secondary_extent[2] = abs(
rail_place.s) / 2.0 + self.config.environment.secondary_safe_margin
self.env.Remove(self.secondary)
self.secondary.InitFromBoxes(
array([concatenate([zeros(3), secondary_extent])]), True)
self.env.AddKinBody(self.secondary)
#
secondary_offset = array(
[0, -secondary_extent[1], secondary_extent[2]]) + array([
0, self.config.environment.robot_level_difference,
-self.config.environment.secondary_safe_margin
])
secondary_offset_transform = eye(4)
secondary_offset_transform[0:3, 3] = secondary_offset
# Rails Traonsform and Placement
primary_transform = transformLookat(
array([0, 0, self.config.environment.z_floor_level]),
array([rail_place.p, 0, self.config.environment.z_floor_level]),
[0, 0, 1])
self.primary.SetTransform(
dot(primary_transform, primary_offset_transform))
secondary_transform = transformLookat(
rail_place.getXYZ(self.config),
array([rail_place.p, 0, self.config.environment.z_floor_level]),
[0, 0, 1])
self.secondary.SetTransform(
dot(secondary_transform, secondary_offset_transform))
def check_rail_collision(self):
""" Check rail <-> blades collision """
with self.env:
collisions = [
self.env.CheckCollision(self.primary, blade)
or self.env.CheckCollision(self.secondary, blade)
for blade in self.blades
]
return any(collisions)
def place_robot(self, rail_place):
""" Place robot on the end of the secondary rail """
T = rail_place.getTransform(self.config)
self.robot.SetTransform(T)
def check_robotbase_collision(self):
""" Check robot's base <-> environment collision """
with self.robot:
for link in self.robot.GetLinks():
link.Enable(False)
self.robot.GetLink('Base').Enable(True)
self.robot.GetLink('Arm0').Enable(True)
with self.env:
collision_base = [(self.env.CheckCollision(self.robot, body)
and not (body == self.robot))
for body in self.bodies]
collisions = collision_base
return any(collisions)
def check_robot_collision(self):
""" Check robot <-> environment collision """
collisions = [(self.env.CheckCollision(self.robot, body)
and not (body == self.robot)) for body in self.bodies]
return any(collisions)