def test_run_random_engine(self):
add_custom_gazebo_resource_path(
os.path.join(
os.path.dirname(os.path.abspath(__file__)),
'gazebo_models'))
manager = EngineManager()
manager.add_constraint(**WORKSPACE_CONSTRAINT)
self.assertTrue(manager.has_constraint('cool_workspace'))
const = manager.get_constraint('cool_workspace')
self.assertIsInstance(const, WorkspaceConstraint)
manager.add_constraint(**TANGENT_CONSTRAINT)
self.assertTrue(manager.has_constraint('tangent_to_ground_plane'))
const = manager.get_constraint('tangent_to_ground_plane')
self.assertIsInstance(const, TangentConstraint)
manager.add(**RANDOM_ENGINE)
self.assertIn('add_random_objects', manager.tags)
self.assertEqual(manager.size, 1)
engine = manager.get('add_random_objects')
self.assertIsNotNone(engine)
self.assertIsInstance(engine, RandomPoseEngine)
models = engine.run()
self.assertIsNotNone(models)
self.assertIsInstance(models, list)
self.assertEqual(len(models), 2)
def test_actor_walking(self):
add_custom_gazebo_resource_path(os.path.join(CUR_DIR, 'gazebo_models'))
sdf = parse_sdf(
os.path.join(CUR_DIR, 'gazebo_models', 'test_actor_walking',
'model.sdf'))
self.assertIsNotNone(sdf)
self.assertIsNotNone(sdf.actors)
self.assertEqual(len(sdf.actors), 1)
actor = Actor.from_sdf(sdf.actors[0])
self.assertIsNotNone(actor)
self.assertEqual(actor.name, 'actor')
self.assertEqual(actor.pose.position[0], 0)
self.assertEqual(actor.pose.position[1], 0)
self.assertEqual(actor.pose.position[2], 0)
self.assertEqual(len(actor.animations), 1)
self.assertEqual(actor.animations[0].name, 'walking')
self.assertEqual(actor.animations[0].filename,
'model://test_actor_walking/meshes/walk.dae')
self.assertEqual(actor.animations[0].scale, 1)
self.assertEqual(actor.animations[0].interpolate_x, True)
self.assertEqual(len(actor.script.trajectories), 1)
self.assertEqual(actor.script.trajectories[0].id, 0)
self.assertEqual(actor.script.trajectories[0].type, 'walking')
self.assertEqual(len(actor.script.trajectories[0].waypoints), 32)
def test_add_constraint(self):
add_custom_gazebo_resource_path(
os.path.join(
os.path.dirname(os.path.abspath(__file__)),
'gazebo_models'))
manager = EngineManager()
manager.add_constraint(**WORKSPACE_CONSTRAINT)
self.assertTrue(manager.has_constraint('cool_workspace'))
const = manager.get_constraint('cool_workspace')
self.assertIsInstance(const, WorkspaceConstraint)
manager.add_constraint(**TANGENT_CONSTRAINT)
self.assertTrue(manager.has_constraint('tangent_to_ground_plane'))
const = manager.get_constraint('tangent_to_ground_plane')
self.assertIsInstance(const, TangentConstraint)
def test_actor_relative_paths(self):
add_custom_gazebo_resource_path(os.path.join(CUR_DIR, 'gazebo_models'))
sdf = parse_sdf(
os.path.join(CUR_DIR, 'gazebo_models', 'test_actor_relative_paths',
'model.sdf'))
self.assertIsNotNone(sdf)
self.assertIsNotNone(sdf.actors)
self.assertEqual(len(sdf.actors), 1)
actor = Actor.from_sdf(sdf.actors[0])
self.assertIsNotNone(actor)
self.assertEqual(actor.name, 'actor_test')
self.assertEqual(actor.pose.position[0], 0)
self.assertEqual(actor.pose.position[1], 0)
self.assertEqual(actor.pose.position[2], 1)
self.assertEqual(len(actor.animations), 8)
self.assertEqual(len(actor.script.trajectories), 13)
def test_parse_biome_from_heightmap(self):
add_custom_gazebo_resource_path(
os.path.join(CUR_DIR, '..', 'examples', 'models'))
# Parse the SDF file
sdf = parse_sdf(
os.path.join(CUR_DIR, '..', 'examples', 'models',
'pcg_winding_valley_heightmap', 'model.sdf'))
self.assertIsNotNone(sdf)
sdf_heightmap = sdf.models[0].links[0].visuals[0].geometry.heightmap
biome = Biome.from_sdf(sdf_heightmap)
self.assertIsNotNone(biome)
self.assertEqual(biome.n_elevation_zones, 3)
self.assertEqual(biome.n_moisture_zones, 1)
for i in range(biome.n_elevation_zones):
tag = biome.get_biome(i, 0)
self.assertIsNotNone(tag)
self.assertIsNotNone(biome.get_diffuse(tag))
self.assertIsNotNone(biome.get_normal(tag))
def test_run_fixed_pose_engine(self):
add_custom_gazebo_resource_path(
os.path.join(
os.path.dirname(os.path.abspath(__file__)),
'gazebo_models'))
manager = EngineManager()
manager.add(**FIXED_ENGINE)
self.assertIn('add_fixed_models', manager.tags)
self.assertEqual(manager.size, 1)
engine = manager.get('add_fixed_models')
self.assertIsNotNone(engine)
self.assertIsInstance(engine, FixedPoseEngine)
models = engine.run()
self.assertIsNotNone(models)
self.assertIsInstance(models, list)
self.assertEqual(len(models), 1)
self.assertEqual(np.sum(models[0].pose.position), 0)
self.assertEqual(np.sum(models[0].pose.quat[0:3]), 0)
def test_add_engines(self):
add_custom_gazebo_resource_path(
os.path.join(
os.path.dirname(os.path.abspath(__file__)),
'gazebo_models'))
manager = EngineManager()
manager.add(**FIXED_ENGINE)
self.assertIn('add_fixed_models', manager.tags)
self.assertEqual(manager.size, 1)
engine = manager.get('add_fixed_models')
self.assertIsNotNone(engine)
self.assertIsInstance(engine, FixedPoseEngine)
manager.add(**RANDOM_ENGINE)
self.assertIn('add_random_objects', manager.tags)
self.assertEqual(manager.size, 2)
engine = manager.get('add_random_objects')
self.assertIsNotNone(engine)
self.assertIsInstance(engine, RandomPoseEngine)
def test_parse_heightmap_model(self):
add_custom_gazebo_resource_path(
os.path.join(CUR_DIR, '..', 'examples', 'models'))
# Parse the SDF file
sdf = parse_sdf(
os.path.join(CUR_DIR, '..', 'examples', 'models',
'pcg_winding_valley_heightmap', 'model.sdf'))
self.assertIsNotNone(sdf)
self.assertIsNotNone(sdf.models)
self.assertEqual(len(sdf.models[0].links[0].visuals), 1)
self.assertEqual(len(sdf.models[0].links[0].collisions), 1)
sdf_heightmap = sdf.models[0].links[0].visuals[0].geometry.heightmap
self.assertIsNotNone(sdf_heightmap)
uri_path_prefix = \
'model://pcg_winding_valley_heightmap/materials/textures'
self.assertIn(uri_path_prefix, sdf_heightmap.uri.value)
self.assertEqual(len(sdf_heightmap.textures), 3)
for texture in sdf_heightmap.textures:
self.assertIn(uri_path_prefix, texture.diffuse.value)
self.assertIn(uri_path_prefix, texture.normal.value)
self.assertEqual(texture.size.value, [10])
self.assertEqual(len(sdf_heightmap.blends), 2)
for blend in sdf_heightmap.blends:
self.assertGreater(blend.min_height.value, 0)
self.assertGreater(blend.fade_dist.value, 0)
self.assertEqual(sdf_heightmap.size.value, [1000, 1000, 25])
self.assertEqual(sdf_heightmap.pos.value, [0, 0, -4])
sdf_heightmap = \
sdf.models[0].links[0].collisions[0].geometry.heightmap
self.assertIsNotNone(sdf_heightmap)
self.assertIn(uri_path_prefix, sdf_heightmap.uri.value)
self.assertEqual(sdf_heightmap.size.value, [1000, 1000, 25])
self.assertEqual(sdf_heightmap.pos.value, [0, 0, -4])
def test_from_sdf(self):
add_custom_gazebo_resource_path(
os.path.join(CUR_DIR, '..', 'examples', 'models'))
# Parse the SDF file
sdf = parse_sdf(
os.path.join(CUR_DIR, '..', 'examples', 'models',
'pcg_winding_valley_heightmap', 'model.sdf'))
self.assertIsNotNone(sdf)
# Convert SDF heightmap element to simulation heightmap element
sdf_heightmap = sdf.models[0].links[0].visuals[0].geometry.heightmap
heightmap = Heightmap.from_sdf(sdf_heightmap)
self.assertIsNotNone(heightmap)
output_sdf = heightmap.to_sdf()
self.assertIsNotNone(output_sdf)
sdf_heightmap = \
sdf.models[0].links[0].collisions[0].geometry.heightmap
heightmap = Heightmap.from_sdf(sdf_heightmap)
self.assertIsNotNone(heightmap)
output_sdf = heightmap.to_sdf()
self.assertIsNotNone(output_sdf)
self.assertEqual(sdf_heightmap.size.value, output_sdf.size.value)
self.assertEqual(sdf_heightmap.pos.value, output_sdf.pos.value)
# Convert model to SimulationModel element
model = SimulationModel.from_sdf(sdf.models[0])
self.assertIsNotNone(model)
output_sdf = model.to_sdf()
self.assertIsNotNone(output_sdf)
self.assertIsNotNone(output_sdf)
self.assertEqual(len(output_sdf.links[0].visuals), 1)
self.assertEqual(len(output_sdf.links[0].collisions), 1)
sdf_heightmap = output_sdf.links[0].visuals[0].geometry.heightmap
self.assertIsNotNone(sdf_heightmap)
uri_path_prefix = \
'model://pcg_winding_valley_heightmap/materials/textures'
self.assertIn(uri_path_prefix, sdf_heightmap.uri.value)
self.assertEqual(len(sdf_heightmap.textures), 3)
for texture in sdf_heightmap.textures:
self.assertIn(uri_path_prefix, texture.diffuse.value)
self.assertIn(uri_path_prefix, texture.normal.value)
self.assertEqual(texture.size.value, [10])
self.assertEqual(len(sdf_heightmap.blends), 2)
for blend in sdf_heightmap.blends:
self.assertGreater(blend.min_height.value, 0)
self.assertGreater(blend.fade_dist.value, 0)
self.assertEqual(sdf_heightmap.size.value, [1000, 1000, 25])
self.assertEqual(sdf_heightmap.pos.value, [0, 0, -4])
sdf_heightmap = \
output_sdf.links[0].collisions[0].geometry.heightmap
self.assertIsNotNone(sdf_heightmap)
self.assertIn(uri_path_prefix, sdf_heightmap.uri.value)
self.assertEqual(sdf_heightmap.size.value, [1000, 1000, 25])
self.assertEqual(sdf_heightmap.pos.value, [0, 0, -4])
engine_name='random_pose',
models=list(models.keys()),
max_num=models,
model_picker='random',
no_collision=True,
min_distance=0.0,
policies=[placement_policy],
constraints=local_constraints
)
for door_room_range in rooms_range[3:]:
world_generator.world.rm_model(tag=world_name+'_door'+str(door_room_range.area))
# Run placement engine
world_generator.run_engines(attach_models=True)
world_generator.world.name = world_name
time_end=time.time()
if args.preview:
world_generator.world.show()
print('time cost',time_end-time_start,'s')
add_custom_gazebo_resource_path(args.export_models_dir)
# Export world to file and walls model as Gazebo model
# full_world_filename = world_generator.export_world(
# output_dir=args.export_world_dir,
# filename=world_generator.world.name + '.world',
# models_output_dir=args.export_models_dir,
# overwrite=True)
# print('World file: {}'.format(full_world_filename))