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 test_shape_is_accessible_from_shape_frame():
world = dartpy.utils.skel.readWorld(get_asset_path('skel/cubes.skel'))
assert world is not None
assert hasattr(world, 'getNumSkeletons')
assert world.getNumSkeletons() > 0
assert hasattr(world, 'getSkeleton')
skel = world.getSkeleton(0)
assert skel is not None
assert hasattr(skel, 'getJoints')
joints = skel.getJoints()
assert len(joints) is 1
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_shape_is_accessible_from_shape_frame():
world = dartpy.utils.skel.readWorld(get_asset_path('skel/cubes.skel'))
assert world is not None
assert hasattr(world, 'getNumSkeletons')
assert world.getNumSkeletons() > 0
assert hasattr(world, 'getSkeleton')
skel = world.getSkeleton(0)
assert skel is not None
assert hasattr(skel, 'getRootBodyNode')
body = skel.getRootBodyNode()
assert body is not None
assert hasattr(body, 'getShapeNode')
shapeNode = body.getShapeNode(0)
assert shapeNode is not None
assert hasattr(shapeNode, 'getShape')
shape = shapeNode.getShape()
assert shape is not 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_loads_primitive_geometry():
loader = DartLoader()
assert loader.parseSkeleton(
get_asset_path('urdf/test/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_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
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
