def test_list_overwrite_entry(self, key, lists):
first_values, second_values = lists
db = GodMap()
db.set_data([key], first_values)
for i, v in enumerate(first_values):
self.assertEqual(db.get_data([key, i]), v)
db.set_data([key, i], second_values[i])
for i, v in enumerate(second_values):
self.assertEqual(db.get_data([key, i]), v)
def test_clear_cache(self):
db = GodMap()
d = {'b': 'c'}
db.set_data(['a'], d)
self.assertEqual('c', db.get_data(['a', 'b']))
db.clear_cache()
class C(object):
b = 'c'
db.set_data(['a'], C())
self.assertEqual('c', db.get_data(['a', 'b']))
def test_function4(self, key1, key2, key3, key4, key5):
db = GodMap()
class MUH(object):
def __call__(self, next_member, next_next_member):
return [key5]
a = MUH()
d = {key2: a}
db.set_data([key1], d)
self.assertEqual(key5, db.get_data([key1, key2, (key3, key4), 0]))
self.assertEqual(key5, db.get_data([key1, key2, (key3, key4), 0]))
self.assertEqual(key5, db.get_data([key1, key2, (key3, key4), 0]))
def test_class1(self, key, class_name, key_values):
c = type(str(class_name), (object,), {})()
for k, v in zip(*key_values):
setattr(c, k, None)
db = GodMap()
db.set_data([key], c)
for k, v in zip(*key_values):
self.assertEqual(db.get_data([key, k]), None)
for k, v in zip(*key_values):
db.set_data([key, k], v)
for k, v in zip(*key_values):
self.assertEqual(db.get_data([key, k]), v)
def test_function3(self, key1, key2, key3, key4, key5):
db = GodMap()
class MUH(object):
def __call__(self, next_member):
return [key5]
a = MUH()
d = {key2: a}
db.set_data([key1], d)
try:
db.get_data([key1, key2, (key3, key4), 0])
assert False
except TypeError:
assert True
def test_list_double_index(self):
key = 'asdf'
value = np.array([[0, 1], [2, 3]])
db = GodMap()
db.set_data([key], value)
for i in range(value.shape[0]):
for j in range(value.shape[1]):
self.assertEqual(db.get_data([key, i, j]), value[i, j])
def test_dict2(self, key, key_values):
d = {}
db = GodMap()
db.set_data([key], d)
for k, v in zip(*key_values):
db.set_data([key, k], v)
for k, v in zip(*key_values):
self.assertEqual(db.get_data([key, k]), v)
def test_class3(self, class_names):
db = GodMap()
for i, name in enumerate(class_names):
c = type(str(name), (object,), {})()
db.set_data(class_names[:i + 1], c)
for i, name in enumerate(class_names):
c = db.get_data(class_names[:i + 1])
self.assertEqual(type(c).__name__, name)
def test_function_2param_call(self, key1, key2, key3, key4):
db = GodMap()
class MUH(object):
def __call__(self, next_member, next_next_member):
return next_next_member
a = MUH()
d = {key2: a}
db.set_data([key1], d)
self.assertEqual(db.get_data([key1, key2, (key3, key4)]), key4)
def test_function2(self, key, dict_key, return_value):
db = GodMap()
class MUH(object):
def __call__(self, god_map):
return return_value
a = MUH()
d = {dict_key: a}
db.set_data([key], d)
self.assertEqual(db.get_data([key, dict_key]), return_value)
def test_function_no_param(self, key1, key2, key3):
db = GodMap()
class MUH(object):
def __call__(self):
return [key3]
a = MUH()
d = {key2: a}
db.set_data([key1], d)
self.assertEqual(key3, db.get_data([key1, key2, tuple(), 0]))
def test_god_map_with_world(self):
gm = GodMap()
w = World()
r = WorldObject(pr2_urdf())
w.add_robot(robot=r,
base_pose=PoseStamped(),
controlled_joints=[],
ignored_pairs=set(),
added_pairs=set())
gm.set_data([u'world'], w)
gm_robot = gm.get_data(identifier.robot)
assert 'pr2' == gm_robot.get_name()
def test_function1(self, key, value):
# TODO not clean that i try to call every function
db = GodMap()
f = lambda gm: value
db.set_data([key], f)
self.assertEqual(db.get_data([key]), value)
def initialize_god_map():
god_map = GodMap()
blackboard = Blackboard
blackboard.god_map = god_map
load_config_file()
god_map.set_data(identifier.rosparam, rospy.get_param(rospy.get_name()))
god_map.set_data(identifier.robot_description, rospy.get_param(u'robot_description'))
path_to_data_folder = god_map.get_data(identifier.data_folder)
# fix path to data folder
if not path_to_data_folder.endswith(u'/'):
path_to_data_folder += u'/'
god_map.set_data(identifier.data_folder, path_to_data_folder)
# fix nWSR
nWSR = god_map.get_data(identifier.nWSR)
if nWSR == u'None':
nWSR = None
god_map.set_data(identifier.nWSR, nWSR)
pbw.start_pybullet(god_map.get_data(identifier.gui))
while not rospy.is_shutdown():
try:
controlled_joints = rospy.wait_for_message(u'/whole_body_controller/state',
JointTrajectoryControllerState,
timeout=5.0).joint_names
except ROSException as e:
logging.logerr(u'state topic not available')
logging.logerr(str(e))
else:
break
rospy.sleep(0.5)
joint_weight_symbols = process_joint_specific_params(identifier.joint_weight,
identifier.joint_weight_default,
identifier.joint_weight_override,
god_map)
process_joint_specific_params(identifier.self_collision_avoidance_distance,
identifier.self_collision_avoidance_default_threshold,
identifier.self_collision_avoidance_default_override,
god_map)
process_joint_specific_params(identifier.external_collision_avoidance_distance,
identifier.external_collision_avoidance_default_threshold,
identifier.external_collision_avoidance_default_override,
god_map)
# TODO add checks to test if joints listed as linear are actually linear
joint_velocity_linear_limit_symbols = process_joint_specific_params(identifier.joint_velocity_linear_limit,
identifier.joint_velocity_linear_limit_default,
identifier.joint_velocity_linear_limit_override,
god_map)
joint_velocity_angular_limit_symbols = process_joint_specific_params(identifier.joint_velocity_angular_limit,
identifier.joint_velocity_angular_limit_default,
identifier.joint_velocity_angular_limit_override,
god_map)
joint_acceleration_linear_limit_symbols = process_joint_specific_params(identifier.joint_acceleration_linear_limit,
identifier.joint_acceleration_linear_limit_default,
identifier.joint_acceleration_linear_limit_override,
god_map)
joint_acceleration_angular_limit_symbols = process_joint_specific_params(
identifier.joint_acceleration_angular_limit,
identifier.joint_acceleration_angular_limit_default,
identifier.joint_acceleration_angular_limit_override,
god_map)
world = PyBulletWorld(False, blackboard.god_map.get_data(identifier.data_folder))
god_map.set_data(identifier.world, world)
robot = WorldObject(god_map.get_data(identifier.robot_description),
None,
controlled_joints)
world.add_robot(robot, None, controlled_joints,
ignored_pairs=god_map.get_data(identifier.ignored_self_collisions),
added_pairs=god_map.get_data(identifier.added_self_collisions))
joint_position_symbols = JointStatesInput(blackboard.god_map.to_symbol, world.robot.get_movable_joints(),
identifier.joint_states,
suffix=[u'position'])
joint_vel_symbols = JointStatesInput(blackboard.god_map.to_symbol, world.robot.get_movable_joints(),
identifier.joint_states,
suffix=[u'velocity'])
world.robot.update_joint_symbols(joint_position_symbols.joint_map, joint_vel_symbols.joint_map,
joint_weight_symbols,
joint_velocity_linear_limit_symbols, joint_velocity_angular_limit_symbols,
joint_acceleration_linear_limit_symbols, joint_acceleration_angular_limit_symbols)
world.robot.init_self_collision_matrix()
return god_map
def test_namedtuple(self, key, tuple_name, key_values):
Frame = namedtuple(tuple_name, key_values[0])
db = GodMap()
db.set_data([key], Frame(*key_values[1]))
for k, v in zip(*key_values):
self.assertEqual(db.get_data([key, k]), v)
def test_set_get_float(self, key, number):
db = GodMap()
db.set_data([key], number)
db.set_data([key], number)
self.assertEqual(db.get_data([key]), number)
def test_set_get_integer2(self, key, number):
db = GodMap()
db.set_data([key], number)
self.assertEqual(db.get_data([key]), number, msg=u'key={}, number={}'.format(key, number))
self.assertEqual(db.get_data([key]), number, msg=u'key={}, number={}'.format(key, number))
def test_attribute_error(self):
db = GodMap()
class C(object):
asdf = 1
db.unsafe_set_data(['c'], C())
self.assertEqual(db.get_data(['c', 'a']), db.default_value)
def test_god_map_key_error(self, key, wrong_key, number, default_value):
assume(key != wrong_key)
db = GodMap(default_value)
db.set_data([key], number)
self.assertEqual(db.get_data([wrong_key]), default_value, msg=u'key={}, number={}'.format(key, number))
def test_index_error(self):
db = GodMap()
db.unsafe_set_data(['l'], [1, 2, 3])
self.assertEqual(db.get_data(['l', '5']), db.default_value)
def test_dict3(self, key, tuple_key, value):
tuple_key = tuple(tuple_key)
d = {tuple_key: value}
db = GodMap()
db.set_data([key], d)
self.assertEqual(db.get_data([key, tuple_key]), value)
def test_function_1param_lambda(self, key, key2):
db = GodMap()
f = lambda x: x
db.set_data([key], f)
self.assertEqual(db.get_data([key, (key2,)]), key2)
def test_list_negative_index(self, key, l):
db = GodMap()
db.set_data([key], l)
for i in range(len(l)):
self.assertEqual(db.get_data([key, -i]), l[-i])
def test_tuple1(self, key, value):
value = tuple(value)
db = GodMap()
db.set_data([key], value)
for i, v in enumerate(value):
self.assertEqual(db.get_data([key, i]), v)
