def test_get_base_velocity():
from panda_gym.pybullet import PyBullet
pybullet = PyBullet()
pybullet.create_box("my_box", [0.5, 0.5, 0.5], 1.0, [0.0, 0.0, 0.0],
[1.0, 0.0, 0.0, 1.0])
pybullet.step()
base_velocity = pybullet.get_base_velocity("my_box")
pybullet.close()
assert np.allclose(base_velocity, [0.0, 0.0, -0.392], atol=1e-3)
def test_control_joints():
from panda_gym.pybullet import PyBullet
pybullet = PyBullet()
pybullet.loadURDF(
body_name="panda",
fileName="franka_panda/panda.urdf",
basePosition=[0.0, 0.0, 0.0],
useFixedBase=True,
)
pybullet.control_joints("panda", [5], [0.3], [5.0])
pybullet.step()
def test_get_joint_angle():
from panda_gym.pybullet import PyBullet
pybullet = PyBullet()
pybullet.loadURDF(
body_name="panda",
fileName="franka_panda/panda.urdf",
basePosition=[0.0, 0.0, 0.0],
useFixedBase=True,
)
pybullet.control_joints("panda", [5], [0.3], [5.0])
pybullet.step()
joint_angle = pybullet.get_joint_angle("panda", 5)
assert np.allclose(joint_angle, 0.063, atol=1e-3)
pybullet.close()
def test_get_link_velocity():
from panda_gym.pybullet import PyBullet
pybullet = PyBullet()
pybullet.loadURDF(
body_name="panda",
fileName="franka_panda/panda.urdf",
basePosition=[0.0, 0.0, 0.0],
useFixedBase=True,
)
pybullet.control_joints("panda", [5], [0.3], [5.0])
pybullet.step()
link_velocity = pybullet.get_link_velocity("panda", 5)
assert np.allclose(link_velocity, [-0.0068, 0.0000, 0.1186], atol=1e-3)
pybullet.close()
def test_step():
from panda_gym.pybullet import PyBullet
pybullet = PyBullet()
pybullet.step()
pybullet.close()