def test_create_box():
from panda_gym.pybullet import PyBullet
pybullet = PyBullet()
pybullet.create_box("my_box", [0.5, 0.5, 0.5], 1.0, [0.0, 0.0, 0.0],
[1.0, 0.0, 0.0, 1.0])
pybullet.close()
def test_set_spinning_friction():
from panda_gym.pybullet import PyBullet
pybullet = PyBullet()
pybullet.create_box("my_box", [0.5, 0.5, 0.5], 1.0, [0.0, 0.0, 0.0],
[1.0, 0.0, 0.0, 1.0])
pybullet.set_spinning_friction("my_box", 0, 0.5)
pybullet.close()
def test_get_base_angular_velocity():
from panda_gym.pybullet import PyBullet
pybullet = PyBullet()
pybullet.create_box("my_box", [0.5, 0.5, 0.5], 1.0, [0.0, 0.0, 0.0],
[1.0, 0.0, 0.0, 1.0])
base_angular_velocity = pybullet.get_base_angular_velocity("my_box")
pybullet.close()
assert np.allclose(base_angular_velocity, [0.0, 0.0, 0.0], atol=1e-3)
def test_get_base_rotation():
from panda_gym.pybullet import PyBullet
pybullet = PyBullet()
pybullet.create_box("my_box", [0.5, 0.5, 0.5], 1.0, [0.0, 0.0, 0.0],
[1.0, 0.0, 0.0, 1.0])
base_rotation = pybullet.get_base_rotation("my_box")
pybullet.close()
assert np.allclose(base_rotation, [0.0, 0.0, 0.0], atol=1e-3)
def test_set_base_pose():
from panda_gym.pybullet import PyBullet
pybullet = PyBullet()
pybullet.create_box("my_box", [0.5, 0.5, 0.5], 1.0, [0.0, 0.0, 0.0],
[1.0, 0.0, 0.0, 1.0])
pybullet.set_base_pose("my_box", [1.0, 1.0, 1.0],
[0.707, -0.02, 0.02, 0.707])
base_position = pybullet.get_base_position("my_box")
base_orientation = pybullet.get_base_orientation("my_box")
pybullet.close()
assert np.allclose(base_position, [1.0, 1.0, 1.0], atol=1e-3)
assert np.allclose(base_orientation, [0.707, -0.02, 0.02, 0.707],
atol=1e-3)