def test_orientation_sensor_after_teleport():
"""Make sure that the orientation sensor correctly updates after using a teleport command to
rotate the agent
"""
binary_path = holodeck.packagemanager.get_binary_path_for_package(
"DefaultWorlds")
with holodeck.environments.HolodeckEnvironment(scenario=base_cfg,
binary_path=binary_path,
show_viewport=False,
uuid=str(
uuid.uuid4())) as env:
for _ in range(10):
env.tick()
loc = [123, 3740, 1030]
rot_deg = np.array([0, 90, 0])
env.teleport("sphere0", loc, rot_deg)
state = env.tick()
sensed_orientation = state["OrientationSensor"]
accurate_or = np.zeros((3, 3))
accurate_or[0, 2] = 1
accurate_or[1, 1] = -1
accurate_or[2, 0] = -1
assert almost_equal(accurate_or, sensed_orientation), \
"Expected orientation did not match the expected orientation!"
def test_range_finder_sensor_falling():
"""Makes sure that the range sensor updates as the UAV falls, and after it comes to a rest.
"""
binary_path = holodeck.packagemanager.get_binary_path_for_package("DefaultWorlds")
with holodeck.environments.HolodeckEnvironment(scenario=uav_config,
binary_path=binary_path,
show_viewport=False,
uuid=str(uuid.uuid4())) as env:
last_range = env.tick()["RangeFinderSensor"][0]
for _ in range(10):
new_range = env.tick(4)["RangeFinderSensor"][0]
assert new_range < last_range, "UAV's range sensor did not detect falling!"
last_range = new_range
# Give the UAV time to bounce and settle
env.tick(80)
# Make sure it is stationary now
last_range = env.tick()["RangeFinderSensor"][0]
new_range = env.tick()["RangeFinderSensor"][0]
assert almost_equal(last_range, new_range), "The UAV did not seem to settle!"
def test_location_sensor_falling():
"""Makes sure that the location sensor updates as the UAV falls, and after it comes to a rest
"""
cfg = deepcopy(uav_config)
# Spawn the UAV 10 meters up
cfg["agents"][0]["location"] = [0, 0, 10]
binary_path = holodeck.packagemanager.get_binary_path_for_package(
"DefaultWorlds")
with holodeck.environments.HolodeckEnvironment(scenario=cfg,
binary_path=binary_path,
show_viewport=False,
uuid=str(
uuid.uuid4())) as env:
last_location = env.tick()["LocationSensor"]
for _ in range(85):
new_location = env.tick()["LocationSensor"]
assert new_location[2] < last_location[
2], "UAV's location sensor did not detect falling!"
last_location = new_location
# Give the UAV time to bounce and settle
for _ in range(80):
env.tick()
# Make sure it is stationary now
last_location = env.tick()["LocationSensor"]
new_location = env.tick()["LocationSensor"]
assert almost_equal(last_location,
new_location), "The UAV did not seem to settle!"
def test_location_sensor_after_teleport():
"""Make sure the location sensor updates after a teleport. Also verifies that the coordinates for the teleport
command match the coordinates used by the location sensor
"""
binary_path = holodeck.packagemanager.get_binary_path_for_package(
"DefaultWorlds")
with holodeck.environments.HolodeckEnvironment(scenario=sphere_config,
binary_path=binary_path,
show_viewport=False,
uuid=str(
uuid.uuid4())) as env:
for _ in range(10):
env.tick()
loc = [507, 301, 1620]
env.agents['sphere0'].teleport(loc, [0, 0, 0])
state = env.tick()
sensed_loc = state["LocationSensor"]
assert almost_equal(
loc,
sensed_loc), "Sensed location did not match the expected location!"
def test_sim_physics_prop():
"""Tests whether spawning a sphere with simulated physics creates a sphere that falls
and rams the agent.
"""
binary_path = holodeck.packagemanager.get_binary_path_for_package(
"DefaultWorlds")
with holodeck.environments.HolodeckEnvironment(scenario=uav_config,
binary_path=binary_path,
show_viewport=False,
uuid=str(
uuid.uuid4())) as env:
env.agents["uav0"].teleport([0, 0, .1])
# get the initial location after the uav has settled
init_location = env.tick(20)["LocationSensor"]
# spawn a ball to fall on top of the agent
env.spawn_prop("sphere",
location=[0, 0.1, 3],
scale=3,
sim_physics=True)
# get the final location after the uav has been knocked over
final_location = env.tick(100)["LocationSensor"]
assert not almost_equal(init_location, final_location), "Uav \
def test_rotation_sensor_after_teleport():
"""Make sure that the rotation sensor correctly updates after using a teleport command to
rotate the agent
"""
binary_path = holodeck.packagemanager.get_binary_path_for_package(
"DefaultWorlds")
with holodeck.environments.HolodeckEnvironment(scenario=base_cfg,
binary_path=binary_path,
show_viewport=False,
uuid=str(
uuid.uuid4())) as env:
for _ in range(10):
env.tick()
loc = [123, 3740, 1030]
rot_deg = np.array([0, 90, 0])
env.teleport("sphere0", loc, rot_deg)
rotation = env.tick()["RotationSensor"]
assert almost_equal(
rot_deg, rotation), "The agent rotated in an unexpected manner!"
def test_static_prop():
"""Tests whether spawning a box without sim_physics creates a static box that keeps
the agent from falling.
"""
binary_path = holodeck.packagemanager.get_binary_path_for_package(
"DefaultWorlds")
with holodeck.environments.HolodeckEnvironment(scenario=uav_config,
binary_path=binary_path,
show_viewport=False,
uuid=str(
uuid.uuid4())) as env:
# spawn a platform for the uav to rest on
env.spawn_prop("box", location=[0, 0, 4.5], scale=[5, 5, 0.5])
# get the initial location after the uav has settled
init_location = env.tick(10)["LocationSensor"]
# get the final location
final_location = env.tick(50)["LocationSensor"]
assert almost_equal(init_location, final_location), "Uav \