def test_robot_transparency(self):
# Update scene
self.scene.scene.title = "Test Robot Transparency"
# Create two joints
joint1 = robot.RotationalJoint(self.se3, self.structure, self.scene)
joint2 = robot.RotationalJoint(self.se3, self.structure, self.scene)
# Create robot
robot1 = robot.GraphicalRobot(self.scene, "Robot 1")
# Add joints
robot1.append_made_link(joint1)
robot1.append_made_link(joint2)
# Change opacity value
opc_val = 0.33
robot1.set_transparency(opc_val)
# Verify change in all joints
self.assertEqual(joint1.get_graphic_object().opacity, opc_val)
self.assertEqual(joint2.get_graphic_object().opacity, opc_val)
# Test bad opc val
self.assertRaises(ValueError, robot1.set_transparency, -0.2)
def test_robot_append_made_link(self):
# Update scene
self.scene.scene.title = "Test Robot Append Made Link"
# Create 2 joints
joint1 = robot.RotationalJoint(self.se3, self.structure, self.scene)
joint2 = robot.RotationalJoint(self.se3, self.structure, self.scene)
# Create robot
robot1 = robot.GraphicalRobot(self.scene, "Robot 1")
# Add 1 joint
robot1.append_made_link(joint1)
# Print joint poses to prove its added
robot1.print_joint_poses()
# Create a new scene
scene2 = canvas.GraphicsCanvas3D(title="Test Robot Append Made Link 2")
# Create a new robot in new scene
robot2 = robot.GraphicalRobot(scene2, "Robot 2")
# Add other joint to new scene
# Expecting an error (can't add joint to robot in different scene
self.assertRaises(RuntimeError, robot2.append_made_link, joint2)
def test_joint_texture(self):
# Scene update
self.scene.scene.title = "Test Joint Texture"
# Create joint
joint = robot.RotationalJoint(self.se3, self.structure, self.scene)
# Apply texture and colour
joint.set_texture(
colour=[0.5, 0, 1],
texture_link="https://s3.amazonaws.com/glowscript/textures/flower_texture.jpg"
)
# Ensure texture is not none, and colour is not white
gph_obj = joint.get_graphic_object()
self.assertEqual(gph_obj.color, vector(0.5, 0, 1))
self.assertIsNotNone(gph_obj.texture)
# Remove Texture and colour
joint.set_texture()
# Ensure colour is white, texture is none
self.assertEqual(gph_obj.color, vector(1, 1, 1))
self.assertIsNone(gph_obj.texture)
# Apply bad colour
# Should assert Value Error
self.assertRaises(ValueError, joint.set_texture, colour=[127, 0, 255])
def test_joint_visibility(self):
# Scene update
self.scene.scene.title = "Test Joint Visibility"
self.scene.grid_visibility(False)
# Create a joint
joint = robot.RotationalJoint(self.se3, self.structure, self.scene)
# Count num objects
num_obj_initial = len(self.scene.scene.objects)
# Turn off joint graphic
joint.set_joint_visibility(False)
# Count num objects
num_obj_off = len(self.scene.scene.objects)
self.assertEqual(num_obj_initial - num_obj_off, 1)
# Turn on
joint.set_joint_visibility(True)
# Count num objects
num_obj_on = len(self.scene.scene.objects)
self.assertEqual(num_obj_on - num_obj_off, 1)
self.assertEqual(num_obj_on, num_obj_initial)
def test_draw_reference_frame(self):
# Scene update
self.scene.scene.title = "Test Draw Reference Frame"
self.scene.grid_visibility(False)
# Create a joint
joint = robot.RotationalJoint(self.se3, self.structure, self.scene)
# Count num objects
num_obj_initial = len(self.scene.scene.objects)
# Turn off reference frame
joint.draw_reference_frame(False)
# Count num objects
num_obj_off = len(self.scene.scene.objects)
self.assertEqual(num_obj_initial - num_obj_off, 1)
# Turn on
joint.draw_reference_frame(True)
# Count num objects
num_obj_on = len(self.scene.scene.objects)
self.assertEqual(num_obj_on - num_obj_off, 1)
self.assertEqual(num_obj_on, num_obj_initial)
def test_rotational_joint_init(self):
self.scene.scene.title = "Test Rotational Joint init"
joint = robot.RotationalJoint(self.se3, self.structure, self.scene)
self.check_obj_pose(joint, self.se3)
self.check_joint_type(joint, "R")
# has int not float
self.assertRaises(TypeError, robot.RotationalJoint, self.se3, 1, self.scene)
# has vars in wrong order
self.assertRaises(TypeError, robot.RotationalJoint, 1.0, self.se3, self.scene)
def test_joint_get_pose(self):
# Update scene
self.scene.scene.title = "Test Get Joint Pose"
# Create a joint
joint = robot.RotationalJoint(self.se3, self.structure, self.scene)
# Get pose
pose = joint.get_pose()
# Check it's equal (proves get returned correctly)
self.assertEqual(self.se3, pose)
def test_set_joint_pose(self):
# Create a scene
self.scene.scene.title = "Test Set Joint Pose"
# Create a joint
joint = robot.RotationalJoint(self.se3, self.structure, self.scene)
# Move joint x+30d, y, z-2
joint.update_pose(self.se3 * SE3().Rx(30, 'deg') * SE3().Tz(-2))
# Check position
self.check_obj_pose(joint, self.se3 * SE3().Rx(30, 'deg') * SE3().Tz(-2))
def test_set_joint_orientation(self):
# Create a scene
self.scene.scene.title = "Test Set Joint Orientation"
# Create a joint
joint = robot.RotationalJoint(self.se3, self.structure, self.scene)
# Rotate joint x+30d, y, z+45d
joint.update_orientation(self.se3 * SE3().Rx(30, 'deg') * SE3().Rz(45, 'deg'))
# Check position
self.check_obj_pose(joint, self.se3 * SE3().Rx(30, 'deg') * SE3().Rz(45, 'deg'))
def test_joint_get_graphic(self):
# Update scene
self.scene.scene.title = "Test Joint Get Graphic"
self.scene.grid_visibility(False)
# Create a joint
joint = robot.RotationalJoint(self.se3, self.structure, self.scene)
joint.draw_reference_frame(False)
# Get graphic obj
gph_obj = joint.get_graphic_object()
# If obj equal only obj in scene
self.assertEqual(len(self.scene.scene.objects), 1)
self.assertEqual(gph_obj, self.scene.scene.objects[0])
def test_joint_get_type(self):
# Update scene
self.scene.scene.title = "Test Joint Get Type"
# Create one of each joint
r = robot.RotationalJoint(self.se3, self.structure, self.scene)
p = robot.PrismaticJoint(self.se3, self.structure, self.scene)
s = robot.StaticJoint(self.se3, self.structure, self.scene)
g = robot.Gripper(self.se3, self.structure, self.scene)
# Check each is correct
self.check_joint_type(r, "R")
self.check_joint_type(p, "P")
self.check_joint_type(s, "S")
self.check_joint_type(g, "G")
def test_joint_transparency(self):
# Scene update
self.scene.scene.title = "Test Joint Transparency"
# Create joint
joint = robot.RotationalJoint(self.se3, self.structure, self.scene)
# Apply texture and colour
opc_val = 0.34
joint.set_transparency(opc_val)
# Ensure texture is not none, and colour is not white
gph_obj = joint.get_graphic_object()
self.assertEqual(gph_obj.opacity, opc_val)
# Set transparency out of range
# Should throw value error
self.assertRaises(ValueError, joint.set_transparency, 1.5)
def test_joint_get_axis_vector(self):
# Update scene
self.scene.scene.title = "Test Get Joint Pose"
# Create a joint
joint = robot.RotationalJoint(self.se3, self.structure, self.scene)
# Get axis vector
x_vec = joint.get_axis_vector(common.x_axis_vector)
y_vec = joint.get_axis_vector(common.y_axis_vector)
z_vec = joint.get_axis_vector(common.z_axis_vector)
# Check it's equal (proves get returned correctly)
self.assertEqual(common.get_pose_x_vec(self.se3), x_vec)
self.assertEqual(common.get_pose_y_vec(self.se3), y_vec)
self.assertEqual(common.get_pose_z_vec(self.se3), z_vec)
# Check error is thrown
self.assertRaises(ValueError, joint.get_axis_vector, vector(0.5, 2, 3))
def test_set_origin(self):
# Update scene
self.scene.scene.title = "Test Set Origin"
# Create a joint
joint = robot.RotationalJoint(SE3(), self.structure, self.scene)
# Save origin pos (copy of)
first_pos = vector(joint.get_graphic_object().origin)
# Move origin
current_pos = vector(1, 0, -0.5)
new_pos = vector(0, 0, 0.5)
joint.set_stl_joint_origin(current_pos, new_pos)
# Save new origin
second_pos = joint.get_graphic_object().origin
# Object should go from along +x-axis, to along -x-axis slightly above z=0 plane
# Compare
self.assertEqual(first_pos, vector(0, 0, 0)) # Check original origin is at 0, 0, 0 (Default)
self.assertEqual(second_pos, new_pos - current_pos) # Check new set origin is at the new position
