def setUp(self):
PybulletAPI.initialize(SimulationTime(1000), False)
PybulletAPI.gui = MagicMock(return_value=True)
# Use side_effect to spy on a method: Can assert calls but functionality doesn't change.
PybulletAPI.addUserDebugLine = MagicMock(
side_effect=PybulletAPI.addUserDebugLine)
self._debug_line = DebugLine(Vec3([0, 0, 0]), Vec3([0, 0, 0]))
def test_creating_test_points_scout_alpha(self):
PybulletAPI.initialize(SimulationTime(1000), False)
model_config = 'scout-alpha.json'
with resource_stream('lobster_simulator', f'data/{model_config}') as f:
self.robot_config = json.load(f)
# Currently resolution is not existing?
resolution = self.robot_config.get('buoyancy_resolution')
robot = auv.AUV(SimulationTime(5000), self.robot_config)
buoyancy_obj = buoyancy.Buoyancy(robot, 0.10, 2, resolution=resolution)
self.assertGreater(len(buoyancy_obj.test_points), 0)
def __init__(self, time_step: int, config=None, gui=True):
"""
Simulator
:param time_step: duration of a step in microseconds
:param config: config of the robot.
:param gui: start the PyBullet gui when true
"""
with resource_stream('lobster_simulator', 'data/config.json') as f:
base_config = json.load(f)
if config is not None:
base_config.update(config)
config = base_config
self.rotate_camera_with_robot = bool(
config['rotate_camera_with_robot'])
self._time: SimulationTime = SimulationTime(0)
self._previous_update_time: SimulationTime = SimulationTime(0)
self._previous_update_real_time: float = t.perf_counter() # in seconds
self._time_step: SimulationTime = SimulationTime(
initial_microseconds=time_step)
self._cycle = 0
PybulletAPI.initialize(self._time_step, gui)
self.water_surface = WaterSurface(self._time)
self._simulator_frequency_slider = PybulletAPI.addUserDebugParameter(
"simulation frequency", 10, 1000, 1 / self._time_step.microseconds)
self._buoyancy_force_slider = PybulletAPI.addUserDebugParameter(
"buoyancyForce", 0, 1000, 550)
self._model = None
self.robot_config = None
self._camera_position = Vec3([0, 0, 0])
self._robot: Optional[AUV] = None