def test_load_URDF():
from panda_gym.pybullet import PyBullet
pybullet = PyBullet()
pybullet.loadURDF(
body_name="panda",
fileName="franka_panda/panda.urdf",
basePosition=[0.0, 0.0, 0.0],
useFixedBase=True,
)
pybullet.close()
def test_inverse_kinematics():
from panda_gym.pybullet import PyBullet
pybullet = PyBullet()
pybullet.loadURDF(
body_name="panda",
fileName="franka_panda/panda.urdf",
basePosition=[0.0, 0.0, 0.0],
useFixedBase=True,
)
joint_angles = pybullet.inverse_kinematics("panda", 6, [0.4, 0.5, 0.6],
[0.707, -0.02, 0.02, 0.707])
assert np.allclose(
joint_angles,
[1.000, 1.223, -1.113, -0.021, -0.917, 0.666, -0.499, 0.0, 0.0],
atol=1e-3)
pybullet.close()
def __init__(self, render: bool = False, reward_type: str = "sparse", control_type: str = "ee") -> None:
sim = PyBullet(render=render)
robot = Panda(sim, block_gripper=False, base_position=np.array([-0.6, 0.0, 0.0]), control_type=control_type)
task = PickAndPlace(sim, reward_type=reward_type)
super().__init__(robot, task)
def test_construct():
from panda_gym.pybullet import PyBullet
pybullet = PyBullet()
def test_create_table():
from panda_gym.pybullet import PyBullet
pybullet = PyBullet()
pybullet.create_table(0.5, 0.6, 0.4)
pybullet.close()
def test_create_plane():
from panda_gym.pybullet import PyBullet
pybullet = PyBullet()
pybullet.create_plane(0.5)
pybullet.close()
def test_dt():
from panda_gym.pybullet import PyBullet
pybullet = PyBullet()
assert pybullet.dt == 0.04
pybullet.close()
def test_place_visalizer():
from panda_gym.pybullet import PyBullet
pybullet = PyBullet()
pybullet.place_visualizer([0.1, 0.2, 0.3], 5.0, 0.3, 0.4)
def test_step():
from panda_gym.pybullet import PyBullet
pybullet = PyBullet()
pybullet.step()
pybullet.close()
def test_get_joint_angle():
from panda_gym.pybullet import PyBullet
pybullet = PyBullet()
pybullet.loadURDF(
body_name="panda",
fileName="franka_panda/panda.urdf",
basePosition=[0.0, 0.0, 0.0],
useFixedBase=True,
)
pybullet.control_joints("panda", [5], [0.3], [5.0])
pybullet.step()
joint_angle = pybullet.get_joint_angle("panda", 5)
assert np.allclose(joint_angle, 0.063, atol=1e-3)
pybullet.close()
def test_get_link_angular_velocity():
from panda_gym.pybullet import PyBullet
pybullet = PyBullet()
pybullet.loadURDF(
body_name="panda",
fileName="franka_panda/panda.urdf",
basePosition=[0.0, 0.0, 0.0],
useFixedBase=True,
)
pybullet.control_joints("panda", [5], [0.3], [5.0])
pybullet.step()
link_angular_velocity = pybullet.get_link_angular_velocity("panda", 5)
assert np.allclose(link_angular_velocity, [0.000, -2.969, 0.000],
atol=1e-3)
pybullet.close()
def test_get_link_orientation():
from panda_gym.pybullet import PyBullet
pybullet = PyBullet()
pybullet.loadURDF(
body_name="panda",
fileName="franka_panda/panda.urdf",
basePosition=[0.0, 0.0, 0.0],
useFixedBase=True,
)
pybullet.control_joints("panda", [5], [0.3], [5.0])
pybullet.step()
link_orientation = pybullet.get_link_orientation("panda", 5)
assert np.allclose(link_orientation, [0.707, -0.02, 0.02, 0.707],
atol=1e-3)
pybullet.close()