def test_obj_adder_single():
ground_plane = GroundPlaneHook()
duck = BasicOBJHook(
category_name='rubber_duck',
path_to_obj=DUCK_OBJ_PATH,
position=np.array([0, 0, 1]),
)
sim = BulletSimulator(
mode=CONNECT_MODE,
max_time=2.,
hooks=[
ground_plane,
duck,
],
)
for _ in range(2):
sim.reset()
while sim.running:
sim.step()
sim.close()
assert len(sim.objects) == 1
def test_r2d2():
ground_plane = GroundPlaneHook()
r2d2 = R2D2CreatorHook()
sim = BulletSimulator(
mode=CONNECT_MODE,
max_time=2,
hooks=[
ground_plane,
r2d2,
],
)
sim.reset()
while not sim.terminated:
output = sim.step()
def test_obj_adder_multiple_in_sequence():
ground_plane = GroundPlaneHook()
height = 3.
duck_1 = BasicOBJHook(
category_name='rubber_duck',
path_to_obj=DUCK_OBJ_PATH,
position=np.array([0, 0, height]),
time_to_create=0.,
)
duck_2 = BasicOBJHook(
category_name='rubber_duck',
path_to_obj=DUCK_OBJ_PATH,
position=np.array([0, 0, height]),
time_to_create=.5,
)
duck_3 = BasicOBJHook(
category_name='rubber_duck',
path_to_obj=DUCK_OBJ_PATH,
position=np.array([0, 0, height]),
time_to_create=1.,
)
sim = BulletSimulator(
mode=CONNECT_MODE,
max_time=3.,
hooks=[
ground_plane,
duck_1,
duck_2,
duck_3,
],
)
out = sim.reset()
assert len(sim.objects) == 1
for _ in range(2):
while sim.running:
out = sim.step()
sim.close()
assert len(sim.objects) == 3
def test_obj_adder_multiple_simultaneous():
ground_plane = GroundPlaneHook()
time_to_create = 1.
duck_1 = BasicOBJHook(
category_name='rubber_duck',
path_to_obj=DUCK_OBJ_PATH,
position=np.array([-1, -1, 2]),
time_to_create=time_to_create,
)
duck_2 = BasicOBJHook(
category_name='rubber_duck',
path_to_obj=DUCK_OBJ_PATH,
position=np.array([0, 0, 4]),
time_to_create=time_to_create,
)
duck_3 = BasicOBJHook(
category_name='rubber_duck',
path_to_obj=DUCK_OBJ_PATH,
position=np.array([1, 1, 6]),
time_to_create=time_to_create,
)
sim = BulletSimulator(
mode=CONNECT_MODE,
max_time=3.,
hooks=[
ground_plane,
duck_1,
duck_2,
duck_3,
],
)
for _ in range(2):
out = sim.reset()
while sim.running:
out = sim.step()
sim.close()
assert len(sim.objects) == 3
def test_random_static_cameras_one_shot_at_2s():
'''
Identical to above, but take only one pictures at t=2s
'''
ground_plane = GroundPlaneHook()
height = 3.
duck_1 = BasicOBJHook(
category_name='rubber_duck',
path_to_obj=DUCK_OBJ_PATH,
position=np.array([0, 0, height]),
time_to_create=0.,
)
duck_2 = BasicOBJHook(
category_name='rubber_duck',
path_to_obj=DUCK_OBJ_PATH,
position=np.array([0, 0, height]),
time_to_create=1.,
)
duck_3 = BasicOBJHook(
category_name='rubber_duck',
path_to_obj=DUCK_OBJ_PATH,
position=np.array([0, 0, height]),
time_to_create=2.,
)
camera_1 = RandomStaticCameraHook(
K=[
1075.65091572, 0.0, 210.06888344, 0.0, 1073.90347929, 174.72159802,
0.0, 0.0, 1.0
],
img_shape=(400, 400),
# position = np.array([10., 10., 7.]),
# lookat = np.array([0., 0., 0.]),
position=[(-10., 10.), (-10., 10.), 7],
lookat=[(-0.2, 0.2), (-0.2, 0.2), (0, 0.1)],
up='up',
start=2.,
light_src=[(-1, 1), (-1, 1), 1],
)
camera_2 = RandomStaticCameraHook(
K=[
1075.65091572, 0.0, 210.06888344, 0.0, 1073.90347929, 174.72159802,
0.0, 0.0, 1.0
],
img_shape=(400, 400),
position=[(-10., 10.), (-10., 10.), 6],
lookat=[(-0.2, 0.2), (-0.2, 0.2), (0, 0.1)],
up='up',
start=2.,
)
sim = BulletSimulator(
mode=CONNECT_MODE,
max_time=5.,
hooks=[
ground_plane,
duck_1,
duck_2,
duck_3,
camera_1,
camera_2,
],
)
images_in_all_rollouts = []
for _ in range(2):
out = sim.reset()
images = maybe_collect_images(out)
assert len(images) == 0
# num_images = 0
images_in_rollout = []
while sim.running:
out = sim.step()
images = maybe_collect_images(out)
if len(images) > 0:
images_in_rollout.extend(images)
images_in_all_rollouts.append(images_in_rollout)
sim.close()
# images across different rollout should be different.
assert not np.allclose(images_in_all_rollouts[0][0],
images_in_all_rollouts[1][0])
assert not np.allclose(images_in_all_rollouts[0][1],
images_in_all_rollouts[1][1])
def test_static_opengl_cameras():
'''
Based on test_obj_adder.test_obj_adder_multiple_in_sequence().
Take the first picture upon reset (start=0.),
and then take pictures every 0.1 seconds until time is up.
'''
# copy-and-paste
ground_plane = GroundPlaneHook()
height = 3.
duck_1 = BasicOBJHook(
category_name='rubber_duck',
path_to_obj=DUCK_OBJ_PATH,
position=np.array([0, 0, height]),
time_to_create=0.,
)
duck_2 = BasicOBJHook(
category_name='rubber_duck',
path_to_obj=DUCK_OBJ_PATH,
position=np.array([0, 0, height]),
time_to_create=1.,
)
duck_3 = BasicOBJHook(
category_name='rubber_duck',
path_to_obj=DUCK_OBJ_PATH,
position=np.array([0, 0, height]),
time_to_create=2.,
)
camera_1 = StaticOGLCameraHook(
K=[
1075.65091572, 0.0, 210.06888344, 0.0, 1073.90347929, 174.72159802,
0.0, 0.0, 1.0
],
img_shape=(400, 400),
position=np.array([10., 10., 7.]),
lookat=np.array([0., 0., 0.]),
up='up',
start=0.,
# interval = .5,
interval=.1,
)
camera_2 = StaticOGLCameraHook(
K=[
1075.65091572, 0.0, 210.06888344, 0.0, 1073.90347929, 174.72159802,
0.0, 0.0, 1.0
],
img_shape=(400, 400),
position=np.array([-10., -10., 6.]),
lookat=np.array([0., 0., 0.]),
up='up',
start=0.,
# interval = .5,
interval=.1,
)
sim = BulletSimulator(
mode=CONNECT_MODE,
max_time=5.,
hooks=[
ground_plane,
duck_1,
duck_2,
duck_3,
camera_1,
camera_2,
],
)
for _ in range(2):
out = sim.reset()
num_images = 0
images = maybe_collect_images(out)
for I in images:
assert I.shape == (400, 400, 4)
num_images += len(images)
while sim.running:
out = sim.step()
images = maybe_collect_images(out)
for I in images:
assert I.shape == (400, 400, 4)
num_images += len(images)
assert num_images == 100
sim.close()
def test_static_opengl_cameras_one_final_shot():
'''
Identical to above, but take only one pictures before simulation terminates (start=np.inf).
'''
ground_plane = GroundPlaneHook()
height = 3.
duck_1 = BasicOBJHook(
category_name='rubber_duck',
path_to_obj=DUCK_OBJ_PATH,
position=np.array([0, 0, height]),
time_to_create=0.,
)
duck_2 = BasicOBJHook(
category_name='rubber_duck',
path_to_obj=DUCK_OBJ_PATH,
position=np.array([0, 0, height]),
time_to_create=1.,
)
duck_3 = BasicOBJHook(
category_name='rubber_duck',
path_to_obj=DUCK_OBJ_PATH,
position=np.array([0, 0, height]),
time_to_create=2.,
)
camera_1 = StaticOGLCameraHook(
K=[
1075.65091572, 0.0, 210.06888344, 0.0, 1073.90347929, 174.72159802,
0.0, 0.0, 1.0
],
img_shape=(400, 400),
position=np.array([10., 10., 7.]),
lookat=np.array([0., 0., 0.]),
up='up',
start=np.inf,
)
camera_2 = StaticOGLCameraHook(
K=[
1075.65091572, 0.0, 210.06888344, 0.0, 1073.90347929, 174.72159802,
0.0, 0.0, 1.0
],
img_shape=(400, 400),
position=np.array([-10., -10., 6.]),
lookat=np.array([0., 0., 0.]),
up='up',
start=np.inf,
)
sim = BulletSimulator(
mode=CONNECT_MODE,
max_time=5.,
hooks=[
ground_plane,
duck_1,
duck_2,
duck_3,
camera_1,
camera_2,
],
)
for _ in range(2):
out = sim.reset()
num_images = 0
images = maybe_collect_images(out)
assert len(images) == 0
while sim.running:
out = sim.step()
images = maybe_collect_images(out)
if len(images) > 0:
assert len(images) == 2
assert sim.terminated
for I in images:
assert I.shape == (400, 400, 4)
sim.close()