def test_gravity(self):
"""
Test the @setGravity and @getGravity methods
"""
manager = SimulationManager()
client = manager.launchSimulation(gui=False)
gravity = manager.getGravity(client)
self.assertIsInstance(gravity, list)
self.assertEqual(len(gravity), 3)
# Test with an invalid client
gravity = manager.getGravity(-1)
self.assertIsNone(gravity)
gravities = [[0.0, 0.0, -9.81], [0.0, 0.0, 9.81], [1.0, 3.0, 0.0],
[-1.0, 3.5, 2.0]]
for gravity in gravities:
manager.setGravity(client, gravity)
value = manager.getGravity(client)
self.assertIsInstance(value, list)
for i in range(len(gravity)):
self.assertEqual(value[i], gravity[i])
# Test with an invalid client
with self.assertRaises(pybullet.error):
manager.setGravity(-1, gravities[0])
manager.stopSimulation(client)
import sys
import time
from qibullet import SimulationManager
from qibullet import NaoVirtual
if __name__ == "__main__":
simulation_manager = SimulationManager()
client = simulation_manager.launchSimulation(gui=True)
# Set a lunar gravity for the instance. The gravity of the instance can be
# retrieved with the getGravity method
simulation_manager.setGravity(client, [0.0, 0.0, -1.62])
# Spawn a nao robot
nao = simulation_manager.spawnNao(client, spawn_ground_plane=True)
if (sys.version_info > (3, 0)):
input("Press any key to stop the simulation")
else:
raw_input("Press any key to stop the simulation")
simulation_manager.stopSimulation(client)
