def test_no_look(self):
# parameters
x_coordinate = 2.1
y_coordinate = 3.7
z_coordinate = 0
frame_id = "/map"
robot = Mockbot()
arm = ArmDesignator(robot, {}, name="arm_designator")
frame = Designator(frame_stamped(frame_id, x_coordinate, y_coordinate, z_coordinate), name="frame_designator")
pc, oc = arms_reach_constraint(frame, arm, look=False)
# verify positionconstraint
self.assertEqual(pc.frame, frame_id)
publicarm = arm.resolve()
radius = math.hypot(publicarm.base_offset.x(), publicarm.base_offset.y())
margin = 0.075
ro = "(x-{})^2+(y-{})^2 < {}^2".format(x_coordinate, y_coordinate, radius + margin)
ri = "(x-{})^2+(y-{})^2 > {}^2".format(x_coordinate, y_coordinate, radius - margin)
verification_string = ri + " and " + ro
equal, msg = constraint_strings_equal(pc.constraint, verification_string)
self.assertTrue(equal, msg)
# verify orientationconstraint
self.assertIsNone(oc)
def setUp(self):
self.robot = Mockbot()
self.entity = Entity(
"12345", "dummy", "/map",
kdl.Frame(kdl.Rotation.RPY(1, 0, 0), kdl.Vector(3, 3, 3)), None,
{}, None, 0)
def setUpClass(cls):
# simple rooms setup, all rooms are 5x5x3m
# 5 ------- ---------
# | kitchen | bedroom |
# 0---------5---------10
box1 = BoxVolume(kdl.Vector(0, 0, 0), kdl.Vector(5, 5, 3))
box2 = BoxVolume(kdl.Vector(0, 0, 0), kdl.Vector(1, 1, 0.5))
cls.robot = Mockbot()
cls._kitchen = Entity(
"kitchen", "room", "/map",
kdl.Frame(kdl.Rotation.RPY(0, 0, 0), kdl.Vector(0, 0, 0)), None,
{"in": box1}, ["room"], 0)
cls._bedroom = Entity(
"bedroom", "room", "/map",
kdl.Frame(kdl.Rotation.RPY(0, 0, 0), kdl.Vector(5, 0, 0)), None,
{"in": box1}, ["room"], 0)
cls._cabinet = Entity(
"cabinet", "furniture", "/map",
kdl.Frame(kdl.Rotation.RPY(0, 0, 0), kdl.Vector(4, 4, 0)), None,
{"on_top_off": box2}, ["furniture"], 0)
cls._bookcase = Entity(
"bookcase", "furniture", "/map",
kdl.Frame(kdl.Rotation.RPY(0, 0, 0), kdl.Vector(8, 1, 0)), None,
{"on_top_off": box2}, ["furniture"], 0)
cls.robot.ed._static_entities = {
e.id: e
for e in [cls._kitchen, cls._bedroom, cls._cabinet, cls._bookcase]
}
cls.tour_guide = TourGuide(cls.robot)
def test_construction(self):
"""
If no exception is raised, this test will succeed
"""
os.environ["ROBOT_ENV"] = "robotics_testlabs"
from robot_skills.mockbot import Mockbot
from challenge_set_the_table.set_the_table import setup_statemachine
robot = Mockbot()
setup_statemachine(robot)
def test_construction(self):
"""
If no exception is raised, this test will succeed
"""
os.environ["ROBOT_ENV"] = "robotics_testlabs"
from robot_skills.mockbot import Mockbot
from challenge_restaurant.restaurant import Restaurant
robot = Mockbot()
Restaurant(robot)
def test_construction(self):
"""
If no exception is raised, this test will succeed
"""
os.environ["ROBOT_ENV"] = "robotics_testlabs"
from robot_skills.mockbot import Mockbot
from challenge_serving_drinks.serving_drinks import ServingDrinks
robot = Mockbot()
ServingDrinks(robot)
def test_construction(self):
"""
If no exception is raised, this test will succeed
"""
os.environ["ROBOT_ENV"] = "robotics_testlabs"
from robot_skills.mockbot import Mockbot
from challenge_take_out_the_garbage.take_out_the_garbage import TakeOutGarbage
robot = Mockbot()
TakeOutGarbage(robot)
def test_construction(self):
"""
If no exception is raised, this test will succeed
"""
os.environ["ROBOT_ENV"] = "robotics_testlabs"
from robot_skills.mockbot import Mockbot
from challenge_where_is_this.where_is_this import WhereIsThis
robot = Mockbot()
WhereIsThis(robot)
def setUp(self):
self.robot = Mockbot()
box = BoxVolume(kdl.Vector(0, 0, 0), kdl.Vector(1, 1, 1))
self.entity = Entity(
"12345", "dummy", "/map",
kdl.Frame(kdl.Rotation.RPY(1, 0, 0), kdl.Vector(3, 3, 3)), None,
{"dummy_volume": box}, None, 0)
self.area = "dummy_volume"
def setUp(self):
self.robot = Mockbot()
hull = RightPrism(
None, # No actual convex hull
z_min=0,
z_max=1)
self.entity = Entity(
"12345", "dummy", "/map",
kdl.Frame(kdl.Rotation.RPY(1, 0, 0), kdl.Vector(3, 3, 3)), hull,
{}, None, 0)
def test_show_image(self):
robot = Mockbot()
# Test if state returns succeeded if file exists
with open("/tmp/foo", "w") as f:
f.write("bar")
state = ShowImageState(robot, "/tmp/foo")
self.assertEqual(state.execute(), "succeeded")
os.remove("/tmp/foo")
# Test if state returns failed if file does not exist
state = ShowImageState(robot, "/tmp/bar")
self.assertEqual(state.execute(), "failed")
def test_grammar():
# Export a (default) robot env. This is necessary because the action server
# loads knowledge on construction of actions.
# It is desirable to improve this in the future.
os.environ["ROBOT_ENV"] = "robotics_testlabs"
knowledge = load_knowledge('challenge_demo')
# Construct a Mockbot object and add a number of static entities
robot = Mockbot()
robot.ed._static_entities = {
"couch_table": from_entity_info(EntityInfo(id="couch_table")),
"operator": from_entity_info(EntityInfo(id="operator")),
}
robot.ed._dynamic_entities = dict()
test_grammar(robot, knowledge.grammar, knowledge.grammar_target)
def setUpClass(cls):
cls.robot = Mockbot()
def setUp(self):
self.robot = Mockbot()
