def test_simple_robot(self):
"""
Tests whether a simple robot is correctly encoded.
:return:
"""
protobuf_robot = yaml_to_proto(body_spec, brain_spec,
basic_yaml_object)
yaml_robot = rty(protobuf_robot)
robot = yaml.safe_load(yaml_robot)
self.assertEqual(0, robot["id"], "Robot ID not correctly set.")
self.assertEqual(
"Core", robot["body"]["id"],
"Root ID not correctly set. (%s)" % robot["body"]["id"])
self.assertEqual(2, len(robot["body"]["children"]),
"Root should have two children.")
id: Wheel
type: Wheel
params:
red: 0.0
green: 1.0
blue: 0.0
5:
id: Wheel2
type: Wheel
params:
red: 0.0
green: 1.0
blue: 0.0
brain:
params:
Wheel-out-0:
type: Oscillator
period: 3
Wheel2-out-0:
type: Oscillator
period: 3
'''
bot = yaml_to_proto(body_spec, brain_spec, bot_yaml)
builder = RobotBuilder(BodyBuilder(body_spec), NeuralNetBuilder(brain_spec))
model = builder.sdf_robot(bot, "libRobotControlPlugin.so")
model.translate(Vector3(0, 0, 0.5))
sdf = SDF()
sdf.add_element(model)
logger.info(str(sdf))
id: Wheel
type: Wheel
params:
red: 0.0
green: 1.0
blue: 0.0
5:
id: Wheel2
type: Wheel
params:
red: 0.0
green: 1.0
blue: 0.0
brain:
params:
Wheel-out-0:
type: Oscillator
period: 3
Wheel2-out-0:
type: Oscillator
period: 3
'''
bot = yaml_to_proto(body_spec, brain_spec, bot_yaml)
builder = RobotBuilder(BodyBuilder(body_spec), NeuralNetBuilder(brain_spec))
model = builder.sdf_robot(bot, "libRobotControlPlugin.so")
model.translate(Vector3(0, 0, 0.5))
sdf = SDF()
sdf.add_element(model)
print(str(sdf))
params=[
ParamSpec("param_a", default=-1),
ParamSpec("param_b", default=15)
])
})
brain_spec = NeuralNetImplementation({
"Simple":
NeuronSpec(params=["bias"]),
"Oscillator":
NeuronSpec(params=["period", "phaseOffset", "amplitude"])
})
# Enter the test cases below (make alterations to the basic yaml object)
# Body test cases
missing_body = yaml_to_proto(body_spec, brain_spec, basic_yaml_object)
missing_body.body.root.Clear()
missing_id = yaml_to_proto(body_spec, brain_spec, basic_yaml_object)
missing_id.body.root.id = ""
missing_part_type = yaml_to_proto(body_spec, brain_spec, basic_yaml_object)
missing_part_type.body.root.type = ""
part_not_in_spec = yaml_to_proto(body_spec, brain_spec, basic_yaml_object)
part_not_in_spec.body.root.type = "NonExistent"
arity_fail = yaml_to_proto(body_spec, brain_spec, basic_yaml_object)
arity_fail.body.root.child[0].src_slot = 5
slot_reuse = yaml_to_proto(body_spec, brain_spec, basic_yaml_object)
def ytr(yaml):
return yaml_to_proto(body_spec, brain_spec, yaml)