def test_parse_joint_properties():
loader = DartLoader()
robot = loader.parseSkeleton(get_asset_path('urdf/joint_properties.urdf'))
assert robot is not None
world = World.create()
world.addSkeleton(robot)
cs = world.getConstraintSolver()
assert cs is not None
cd = cs.getCollisionDetector()
assert cd is not None
def main():
root_path = os.path.join(os.path.dirname(__file__), 'assets')
file_path = os.path.join(root_path, 'wam.urdf')
urdfLoader = DartLoader()
urdfLoader.addPackageDirectory("herb_description", root_path)
wam = urdfLoader.parseSkeleton(file_path)
world = World.create()
world.addSkeleton(wam)
viewer = Viewer(world)
if sys.flags.interactive == 0:
viewer.app.run()
def main():
root_path = os.path.join(os.path.dirname(__file__), 'assets')
file_path = os.path.join(root_path, 'wam.urdf')
urdfLoader = DartLoader()
urdfLoader.addPackageDirectory("herb_description", root_path)
wam = urdfLoader.parseSkeleton(file_path)
world = World.create()
world.addSkeleton(wam)
window = SimWindow()
window.setWorld(world)
glutInit(sys.argv)
window.initWindow(640, 480, "Rigid Cubes")
glutMainLoop()
def test_parse_joint_properties():
loader = DartLoader()
robot = loader.parseSkeleton(get_asset_path('urdf/joint_properties.urdf'))
assert robot is not None
joint1 = robot.getJoint(1)
assert joint1 is not None
assert joint1.getDampingCoefficient(0) == pytest.approx(1.2, 1e-12)
assert joint1.getCoulombFriction(0) == pytest.approx(2.3, 1e-12)
joint2 = robot.getJoint(2)
assert joint2 is not None
assert joint2.getPositionLowerLimit(0) == -float("inf")
assert joint2.getPositionUpperLimit(0) == float("inf")
if not platform.linux_distribution()[1] == '14.04':
assert joint2.isCyclic(0)
def test_parse_skeleton_non_existing_path_returns_null():
loader = DartLoader()
assert loader.parseSkeleton(
get_asset_path('skel/test/does_not_exist.urdf')) is None
def test_parse_skeleton_loads_primitive_geometry():
loader = DartLoader()
assert loader.parseSkeleton(
get_asset_path('urdf/primitive_geometry.urdf')) is not None
def test_parse_skeleton_missing_package_returns_null():
loader = DartLoader()
assert loader.parseSkeleton(
get_asset_path('urdf/missing_package.urdf')) is None
def test_parse_skeleton_invalid_mesh_returns_null():
loader = DartLoader()
assert loader.parseSkeleton(
get_asset_path('urdf/invalid_mesh.urdf')) is None
def test_parse_joint_properties():
loader = DartLoader()
robot = loader.parseSkeleton(get_asset_path('urdf/test/joint_properties.urdf'))
assert robot is not None
def test_parse_skeleton_non_existing_path_returns_null():
assert os.path.isfile(get_asset_path('skel/cubes.skel')) is True
loader = DartLoader()
assert loader.parseSkeleton(get_asset_path('skel/test/does_not_exist.urdf')) is None