class MoverTests(unittest.TestCase):
def setUp(self):
# Good starting global pos to not casue collisons
INIT = (4.8, 0.16, 0)
self.agent = LoCoBotMover(ip=IP, backend="habitat")
self.agent.bot.go_to_absolute(INIT, close_loop=False)
def test_move_relative(self):
for task_pos in [(0, 0, 0), (0, -0.1, 1.0), (0, 0.1, 0),
(-0.1, -0.1, -1.0)]:
initial_state = self.agent.bot.get_base_state(state_type="odom")
self.agent.move_relative([task_pos])
assert_distance_moved(
initial_state,
self.agent.bot.get_base_state(state_type="odom"), task_pos)
def test_turn(self):
# turn a set of a angles
turns_in_degrees = [0, 45, 90, -90, 180]
for x in turns_in_degrees:
init = self.agent.bot.get_base_state(state_type="odom")
self.agent.turn(x)
final = self.agent.bot.get_base_state(state_type="odom")
assert_turn_degree(init[2], final[2], x)
def init_physical_interfaces(self):
"""Instantiates the interface to physically move the robot."""
self.mover = LoCoBotMover(ip=self.opts.ip, backend=self.opts.backend, use_dslam=self.opts.use_dslam)
def setUp(self):
# Good starting global pos to not casue collisons
INIT = (4.8, 0.16, 0)
self.agent = LoCoBotMover(ip=IP, backend="habitat")
self.agent.bot.go_to_absolute(INIT, close_loop=False)
def setUp(self) -> None:
m_agent = MagicMock()
m_agent.mover = LoCoBotMover(ip=IP, backend="habitat")
self.input_handler = InputHandler(m_agent, read_from_camera=True)
def setUp(self) -> None:
m_agent = MagicMock()
m_agent.mover = LoCoBotMover(ip=IP, backend="habitat")
self.input_handler = InputHandler(m_agent, read_from_camera=True)
self.perception = SlowPerception(PERCEPTION_MODELS_DIR)