def test_camera_removal(self): """ Ensure that the camera processes are stopped when removing a robot, stopping or resetting a simulation """ manager = SimulationManager() client = manager.launchSimulation(gui=False) pepper = manager.spawnPepper(client, spawn_ground_plane=True) handle = pepper.subscribeCamera(PepperVirtual.ID_CAMERA_TOP) camera = pepper.getCamera(handle) self.assertTrue(camera.isActive()) manager.removePepper(pepper) self.assertFalse(camera.isActive()) pepper = manager.spawnPepper(client, spawn_ground_plane=True) handle = pepper.subscribeCamera(PepperVirtual.ID_CAMERA_TOP) camera = pepper.getCamera(handle) self.assertTrue(camera.isActive()) manager.resetSimulation(client) self.assertFalse(camera.isActive()) pepper = manager.spawnPepper(client, spawn_ground_plane=True) handle = pepper.subscribeCamera(PepperVirtual.ID_CAMERA_TOP) camera = pepper.getCamera(handle) self.assertTrue(camera.isActive()) manager.stopSimulation(client) self.assertFalse(camera.isActive())
def test_reset_simulation(self): """ Test the @resetSimulation method """ manager = SimulationManager() client = manager.launchSimulation(gui=False) manager.resetSimulation(client) manager.stopSimulation(client)
PepperBaseTest, PepperJointTest, PepperLaserTest, PepperCameraTest, PepperPostureTest, PepperSelfCollisionTest] physics_client = simulation_manager.launchSimulation(gui=False) for test_class in test_classes: pybullet.setAdditionalSearchPath(pybullet_data.getDataPath()) pybullet.loadMJCF("mjcf/ground_plane.xml") test_results.append( test_runner.run(test_loader.loadTestsFromTestCase(test_class))) simulation_manager.resetSimulation(physics_client) simulation_manager.stopSimulation(physics_client) print("------------------------------------------------------------------") for i in range(len(test_results)): test_count = test_results[i].testsRun test_failures = test_results[i].failures test_errors = test_results[i].errors test_passed = test_count - len(test_failures) if len(test_failures) != 0: has_failed = True print(test_classes[i].__name__ + "[" + str(test_count) + " tests]:") print(str(test_passed) + " [\033[1m\033[92mpassed\033[0m]")