def test_geometry_shape_visual(self):
viewer = MeshcatViewer()
s = Shape.create_sphere(0.5, Material())
import trimesh.creation
obj = trimesh.creation.uv_sphere(0.5)
geom = viewer._get_shape_geometry(s)
self.assertTrue(isinstance(geom, g.Sphere))
s.set_user_data(dict(visual_mesh=obj))
geom = viewer._get_shape_geometry(s)
self.assertTrue(isinstance(geom, g.MeshGeometry))
def test_geometry_shape_box(self):
viewer = MeshcatViewer()
s = Shape.create_box([0.2, 0.1, 0.05], Material())
g = viewer._get_shape_geometry(s)
self.assertAlmostEqual(g.lengths[0], 0.2)
self.assertAlmostEqual(g.lengths[1], 0.1)
self.assertAlmostEqual(g.lengths[2], 0.05)
def test_geometry_shape_convex_shape(self):
viewer = MeshcatViewer()
points = np.random.randn(10, 3)
s = Shape.create_convex_mesh_from_points(points, Material())
g = viewer._get_shape_geometry(s)
pmin = np.min(points, axis=0)
pmax = np.max(points, axis=0)
gmin = np.min(g.vertices, axis=0)
gmax = np.max(g.vertices, axis=0)
self.assertAlmostEqual(pmin[0], gmin[0], places=5)
self.assertAlmostEqual(pmin[1], gmin[1], places=5)
self.assertAlmostEqual(pmin[2], gmin[2], places=5)
self.assertAlmostEqual(pmax[0], gmax[0], places=5)
self.assertAlmostEqual(pmax[1], gmax[1], places=5)
self.assertAlmostEqual(pmax[2], gmax[2], places=5)
def test_geometry_shape_sphere(self):
viewer = MeshcatViewer()
s = Shape.create_sphere(0.5, Material())
g = viewer._get_shape_geometry(s)
self.assertAlmostEqual(g.radius, 0.5)