def test_parse_joint_properties(): loader = DartLoader() robot = loader.parseSkeleton(get_asset_path('urdf/joint_properties.urdf')) assert robot is not None world = World.create() world.addSkeleton(robot) cs = world.getConstraintSolver() assert cs is not None cd = cs.getCollisionDetector() assert cd is not None
def test_shape_is_accessible_from_shape_frame(): world = dartpy.utils.skel.readWorld(get_asset_path('skel/cubes.skel')) assert world is not None assert hasattr(world, 'getNumSkeletons') assert world.getNumSkeletons() > 0 assert hasattr(world, 'getSkeleton') skel = world.getSkeleton(0) assert skel is not None assert hasattr(skel, 'getJoints') joints = skel.getJoints() assert len(joints) is 1
def test_parse_joint_properties(): loader = DartLoader() robot = loader.parseSkeleton(get_asset_path('urdf/joint_properties.urdf')) assert robot is not None joint1 = robot.getJoint(1) assert joint1 is not None assert joint1.getDampingCoefficient(0) == pytest.approx(1.2, 1e-12) assert joint1.getCoulombFriction(0) == pytest.approx(2.3, 1e-12) joint2 = robot.getJoint(2) assert joint2 is not None assert joint2.getPositionLowerLimit(0) == -float("inf") assert joint2.getPositionUpperLimit(0) == float("inf") if not platform.linux_distribution()[1] == '14.04': assert joint2.isCyclic(0)
def test_shape_is_accessible_from_shape_frame(): world = dartpy.utils.skel.readWorld(get_asset_path('skel/cubes.skel')) assert world is not None assert hasattr(world, 'getNumSkeletons') assert world.getNumSkeletons() > 0 assert hasattr(world, 'getSkeleton') skel = world.getSkeleton(0) assert skel is not None assert hasattr(skel, 'getRootBodyNode') body = skel.getRootBodyNode() assert body is not None assert hasattr(body, 'getShapeNode') shapeNode = body.getShapeNode(0) assert shapeNode is not None assert hasattr(shapeNode, 'getShape') shape = shapeNode.getShape() assert shape is not None
def test_parse_joint_properties(): loader = DartLoader() robot = loader.parseSkeleton( get_asset_path('urdf/test/joint_properties.urdf')) assert robot is not None
def test_parse_skeleton_loads_primitive_geometry(): loader = DartLoader() assert loader.parseSkeleton( get_asset_path('urdf/test/primitive_geometry.urdf')) is not None
def test_parse_skeleton_missing_package_returns_null(): loader = DartLoader() assert loader.parseSkeleton( get_asset_path('urdf/missing_package.urdf')) is None
def test_parse_skeleton_invalid_mesh_returns_null(): loader = DartLoader() assert loader.parseSkeleton( get_asset_path('urdf/invalid_mesh.urdf')) is None
def test_parse_skeleton_non_existing_path_returns_null(): assert os.path.isfile(get_asset_path('skel/cubes.skel')) is True loader = DartLoader() assert loader.parseSkeleton( get_asset_path('skel/test/does_not_exist.urdf')) is None
def test_parse_skeleton_non_existing_path_returns_null(): loader = DartLoader() assert loader.parseSkeleton( get_asset_path('skel/test/does_not_exist.urdf')) is None