def test_create_sphere():
from panda_gym.pybullet import PyBullet
pybullet = PyBullet()
pybullet.create_sphere("my_sphere", 0.5, 1.0, [0.0, 0.0, 0.0],
[1.0, 0.0, 0.0, 1.0])
pybullet.close()
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_create_cylinder():
from panda_gym.pybullet import PyBullet
pybullet = PyBullet()
pybullet.create_cylinder("my_cylinder", 0.5, 1.0, 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_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_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_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_get_link_position():
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,
)
link_position = pybullet.get_link_position("panda", 1)
assert np.allclose(link_position, [0.000, 0.060, 0.373], atol=1e-3)
pybullet.close()
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)
def test_set_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.set_joint_angle("panda", 3, 0.4)
joint_angle = pybullet.get_joint_angle("panda", 3)
assert np.allclose(joint_angle, 0.4, atol=1e-3)
pybullet.close()
def test_get_link_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_velocity = pybullet.get_link_velocity("panda", 5)
assert np.allclose(link_velocity, [-0.0068, 0.0000, 0.1186], atol=1e-3)
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_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 test_dt():
from panda_gym.pybullet import PyBullet
pybullet = PyBullet()
assert pybullet.dt == 0.04
pybullet.close()
def test_step():
from panda_gym.pybullet import PyBullet
pybullet = PyBullet()
pybullet.step()
pybullet.close()
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()