def test_gravity(self): """ Test the @setGravity and @getGravity methods """ manager = SimulationManager() client = manager.launchSimulation(gui=False) gravity = manager.getGravity(client) self.assertIsInstance(gravity, list) self.assertEqual(len(gravity), 3) # Test with an invalid client gravity = manager.getGravity(-1) self.assertIsNone(gravity) gravities = [[0.0, 0.0, -9.81], [0.0, 0.0, 9.81], [1.0, 3.0, 0.0], [-1.0, 3.5, 2.0]] for gravity in gravities: manager.setGravity(client, gravity) value = manager.getGravity(client) self.assertIsInstance(value, list) for i in range(len(gravity)): self.assertEqual(value[i], gravity[i]) # Test with an invalid client with self.assertRaises(pybullet.error): manager.setGravity(-1, gravities[0]) manager.stopSimulation(client)
import sys import time from qibullet import SimulationManager from qibullet import NaoVirtual if __name__ == "__main__": simulation_manager = SimulationManager() client = simulation_manager.launchSimulation(gui=True) # Set a lunar gravity for the instance. The gravity of the instance can be # retrieved with the getGravity method simulation_manager.setGravity(client, [0.0, 0.0, -1.62]) # Spawn a nao robot nao = simulation_manager.spawnNao(client, spawn_ground_plane=True) if (sys.version_info > (3, 0)): input("Press any key to stop the simulation") else: raw_input("Press any key to stop the simulation") simulation_manager.stopSimulation(client)