def test_pr2(self):
pr2_robot = robots.PR2()
env = Environment()
# env.SetViewer("qtcoin")
robot = env.ReadRobotXMLFile(pr2_robot.shape)
env.Add(robot)
dof_val = robot.GetActiveDOFValues()
init_dof = np.zeros((39,))
self.assertTrue(np.allclose(dof_val, init_dof, 1e-6))
def test_basic(self):
pr2_robot = pr2.PR2()
env = Environment()
robot = env.ReadRobotXMLFile(pr2_robot.shape)
env.Add(robot)
dof_val = robot.GetActiveDOFValues()
init_dof = np.array([
0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 2.77555756e-17,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 2.77555756e-17,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00
])
self.assertTrue(np.allclose(dof_val, init_dof, 1e-6))