class TestObjects(TestCore):
def setUp(self):
super().setUp()
self.dynamic_cube = Shape('dynamic_cube')
self.cubes_under_dummy = Dummy('cubes_under_dummy')
self.cube0 = Shape('cube0')
self.dummy = Dummy('dummy')
self.simple_model = Shape('simple_model')
def test_get_object_type(self):
self.assertEqual(Object.get_object_type('dynamic_cube'),
ObjectType.SHAPE)
self.assertEqual(Object.get_object_type('dummy'), ObjectType.DUMMY)
def test_get_object_name(self):
self.assertEqual(Object.get_object_name('dynamic_cube'),
'dynamic_cube')
self.assertEqual(
Object.get_object_name(self.dynamic_cube.get_handle()),
'dynamic_cube')
def test_get_object(self):
self.assertEqual(Object.get_object('dynamic_cube'), self.dynamic_cube)
self.assertEqual(Object.get_object('dummy'), self.dummy)
self.assertEqual(Object.get_object(self.dynamic_cube.get_handle()),
self.dynamic_cube)
self.assertEqual(Object.get_object(self.dummy.get_handle()),
self.dummy)
def test_equality(self):
cube2 = Shape('dynamic_cube')
self.assertEqual(self.dynamic_cube, cube2)
def test_get_handle(self):
self.assertGreater(self.dynamic_cube.get_handle(), 0)
def test_get_type(self):
self.assertEqual(self.dynamic_cube.get_type(), ObjectType.SHAPE)
def test_still_exists(self):
self.assertTrue(self.dynamic_cube.still_exists())
self.dynamic_cube.remove()
self.assertFalse(self.dynamic_cube.still_exists())
def test_object_exists(self):
yes = Object.exists('dynamic_cube')
no = Object.exists('dynamic_cubeee')
self.assertTrue(yes)
self.assertFalse(no)
def test_get_set_name(self):
self.dynamic_cube.set_name('test1')
self.assertEqual(self.dynamic_cube.get_name(), 'test1')
def test_get_set_position(self):
position = self.cube0.get_position()
self.assertIsInstance(position, np.ndarray)
self.assertEqual(position.shape, (3, ))
self.cube0.set_position([0.1, 0.1, 0.1], self.cubes_under_dummy)
self.assertTrue(
np.allclose(self.cube0.get_position(self.cubes_under_dummy),
[0.1, 0.1, 0.1]))
self.cube0.set_position([0.2, 0.2, 0.2])
self.assertTrue(np.allclose(self.cube0.get_position(),
[0.2, 0.2, 0.2]))
def test_get_set_orientation(self):
orientation = self.cube0.get_orientation()
self.assertIsInstance(orientation, np.ndarray)
self.assertEqual(orientation.shape, (3, ))
self.cube0.set_orientation([0.0, 0.0, 0.2], self.cubes_under_dummy)
self.assertTrue(
np.allclose(self.cube0.get_orientation(self.cubes_under_dummy),
[0.0, 0.0, 0.2]))
self.cube0.set_orientation([0.0, 0.0, 0.3])
self.assertTrue(
np.allclose(self.cube0.get_orientation(), [0.0, 0.0, 0.3]))
def test_get_set_quaternion(self):
quaternion = self.cube0.get_quaternion()
self.assertIsInstance(quaternion, np.ndarray)
self.assertEqual(quaternion.shape, (4, ))
# x, y, z, w
self.cube0.set_quaternion([1., 0., 0., 0.], self.cubes_under_dummy)
self.assertTrue(
np.allclose(self.cube0.get_quaternion(self.cubes_under_dummy),
[1., 0., 0., 0.]))
self.cube0.set_quaternion([np.sqrt(0.5), 0, 0., np.sqrt(0.5)])
self.assertTrue(
np.allclose(
self.cube0.get_quaternion(),
[np.sqrt(0.5), 0, 0., np.sqrt(0.5)]))
def test_get_velocity(self):
linear_vel, angular_vel = self.cube0.get_velocity()
self.assertIsInstance(linear_vel, np.ndarray)
self.assertEqual(linear_vel.shape, (3, ))
self.assertIsInstance(angular_vel, np.ndarray)
self.assertEqual(angular_vel.shape, (3, ))
def test_get_set_parent(self):
self.dynamic_cube.set_parent(self.dummy)
parent = self.dynamic_cube.get_parent()
self.assertEqual(parent, self.dummy)
def test_get_set_parent_not_in_place(self):
init_pos = self.dynamic_cube.get_position()
self.dynamic_cube.set_parent(self.dummy, keep_in_place=False)
parent = self.dynamic_cube.get_parent()
self.assertEqual(parent, self.dummy)
self.assertFalse(
np.allclose(init_pos, self.dynamic_cube.get_position()))
def test_get_parent_when_orphan(self):
parent = self.dummy.get_parent()
self.assertIsNone(parent)
def test_get_matrix(self):
self.assertEqual(len(self.dynamic_cube.get_matrix()), 12)
def test_get_set_collidable(self):
self.dynamic_cube.set_collidable(False)
self.assertFalse(self.dynamic_cube.is_collidable())
self.dynamic_cube.set_collidable(True)
self.assertTrue(self.dynamic_cube.is_collidable())
def test_get_set_measurable(self):
self.dynamic_cube.set_measurable(False)
self.assertFalse(self.dynamic_cube.is_measurable())
self.dynamic_cube.set_measurable(True)
self.assertTrue(self.dynamic_cube.is_measurable())
def test_get_set_detectable(self):
self.dynamic_cube.set_detectable(False)
self.assertFalse(self.dynamic_cube.is_detectable())
self.dynamic_cube.set_detectable(True)
self.assertTrue(self.dynamic_cube.is_detectable())
def test_get_set_renderable(self):
self.dynamic_cube.set_renderable(False)
self.assertFalse(self.dynamic_cube.is_renderable())
self.dynamic_cube.set_renderable(True)
self.assertTrue(self.dynamic_cube.is_renderable())
def test_is_model(self):
self.assertFalse(self.dynamic_cube.is_model())
self.assertTrue(self.simple_model.is_model())
def test_set_model(self):
self.simple_model.set_model(False)
self.dynamic_cube.set_model(True)
self.assertFalse(self.simple_model.is_model())
self.assertTrue(self.dynamic_cube.is_model())
def test_remove(self):
self.dynamic_cube.remove()
self.simple_model.remove()
self.assertFalse(self.dynamic_cube.still_exists())
self.assertFalse(self.simple_model.still_exists())
self.assertFalse(Object.exists('dynamic_cube'))
self.assertFalse(Object.exists('simple_model'))
def test_dynamic_object(self):
# Can't really test this. So lets just make sure it doesn't error
self.dynamic_cube.reset_dynamic_object()
def test_get_bounding_box(self):
bb = self.dynamic_cube.get_bounding_box()
self.assertTrue(np.allclose(bb, [-0.05, 0.05] * 3))
def test_get_objects_in_tree(self):
dummys = [Dummy('nested_dummy%d' % i) for i in range(3)]
objects = dummys[0].get_objects_in_tree(exclude_base=False,
first_generation_only=False)
self.assertListEqual(objects, dummys)
for obj in objects:
self.assertIs(type(obj), Dummy)
self.assertListEqual(
dummys[0].get_objects_in_tree(exclude_base=True,
first_generation_only=False),
dummys[1:])
self.assertListEqual(
dummys[0].get_objects_in_tree(exclude_base=False,
first_generation_only=True),
dummys[:-1])
def test_get_extention_string(self):
self.assertEqual(self.dynamic_cube.get_extension_string(), 'test')
def test_get_configuration_tree(self):
config = self.dynamic_cube.get_configuration_tree()
self.assertIsNotNone(config)
def test_rotate(self):
self.dynamic_cube.rotate([0.02, 0.04, 0.06])
self.assertTrue(
np.allclose(self.dynamic_cube.get_orientation(),
[0.02, 0.04, 0.06]))
def test_get_set_model_collidable(self):
self.simple_model.set_model_collidable(False)
self.assertFalse(self.simple_model.is_model_collidable())
self.simple_model.set_model_collidable(True)
self.assertTrue(self.simple_model.is_model_collidable())
def test_get_set_model_measurable(self):
self.simple_model.set_model_measurable(False)
self.assertFalse(self.simple_model.is_model_measurable())
self.simple_model.set_model_measurable(True)
self.assertTrue(self.simple_model.is_model_measurable())
def test_get_set_model_detectable(self):
self.simple_model.set_model_detectable(False)
self.assertFalse(self.simple_model.is_model_detectable())
self.simple_model.set_model_detectable(True)
self.assertTrue(self.simple_model.is_model_detectable())
def test_get_set_model_renderable(self):
self.simple_model.set_model_renderable(False)
self.assertFalse(self.simple_model.is_model_renderable())
self.simple_model.set_model_renderable(True)
self.assertTrue(self.simple_model.is_model_renderable())
def test_get_set_model_dynamic(self):
self.simple_model.set_model_dynamic(False)
self.assertFalse(self.simple_model.is_model_dynamic())
self.simple_model.set_model_dynamic(True)
self.assertTrue(self.simple_model.is_model_dynamic())
def test_get_set_model_respondable(self):
self.simple_model.set_model_respondable(False)
self.assertFalse(self.simple_model.is_model_respondable())
self.simple_model.set_model_respondable(True)
self.assertTrue(self.simple_model.is_model_respondable())
def test_check_collision(self):
c1 = Shape('colliding_cube0')
c2 = Shape('colliding_cube1')
self.assertTrue(c1.check_collision(c2))
def test_check_collision_all(self):
c1 = Shape('colliding_cube0')
self.assertTrue(c1.check_collision(None))
def test_copy(self):
cube1 = self.cube0.copy()
self.assertGreater(cube1.get_handle(), 0)
self.assertIsInstance(cube1, Shape)
self.assertNotEqual(self.cube0, cube1)
def test_check_distance(self):
dist = self.dummy.check_distance(self.cube0)
self.assertAlmostEqual(dist, 1.4629, places=3)
def test_set_get_bullet_friction(self):
self.dynamic_cube.set_bullet_friction(0.7)
friction = self.dynamic_cube.get_bullet_friction()
self.assertAlmostEqual(friction, 0.7, places=1)
def test_set_get_explicit_handling(self):
cam = VisionSensor.create((640, 480))
flag_orig = cam.get_explicit_handling()
cam.set_explicit_handling(value=1)
flag = cam.get_explicit_handling()
self.assertEqual(flag, 1)
cam.set_explicit_handling(value=0)
flag = cam.get_explicit_handling()
self.assertEqual(flag, 0)
cam.set_explicit_handling(flag_orig)
cam.remove()
class TestObjects(TestCore):
def setUp(self):
super().setUp()
self.dynamic_cube = Shape('dynamic_cube')
self.cubes_under_dummy = Dummy('cubes_under_dummy')
self.cube0 = Shape('cube0')
self.dummy = Dummy('dummy')
self.simple_model = Shape('simple_model')
def test_equality(self):
cube2 = Shape('dynamic_cube')
self.assertEqual(self.dynamic_cube, cube2)
def test_get_handle(self):
self.assertGreater(self.dynamic_cube.get_handle(), 0)
def test_still_exists(self):
self.assertTrue(self.dynamic_cube.still_exists())
self.assertFalse(Shape(-1).still_exists())
def test_object_exists(self):
yes = Object.exists('dynamic_cube')
no = Object.exists('dynamic_cubeee')
self.assertTrue(yes)
self.assertFalse(no)
def test_get_set_name(self):
self.dynamic_cube.set_name('test1')
self.assertEqual(self.dynamic_cube.get_name(), 'test1')
def test_get_set_position(self):
self.cube0.set_position([0.1, 0.1, 0.1], self.cubes_under_dummy)
self.assertTrue(
np.allclose(self.cube0.get_position(self.cubes_under_dummy),
[0.1, 0.1, 0.1]))
self.cube0.set_position([0.2, 0.2, 0.2])
self.assertTrue(np.allclose(self.cube0.get_position(),
[0.2, 0.2, 0.2]))
def test_get_set_orientation(self):
self.cube0.set_orientation([0.0, 0.0, 0.2], self.cubes_under_dummy)
self.assertTrue(
np.allclose(self.cube0.get_orientation(self.cubes_under_dummy),
[0.0, 0.0, 0.2]))
self.cube0.set_orientation([0.0, 0.0, 0.3])
self.assertTrue(
np.allclose(self.cube0.get_orientation(), [0.0, 0.0, 0.3]))
def test_get_set_quaternion(self):
# x, y, z, w
self.cube0.set_quaternion([1., 0., 0., 0.], self.cubes_under_dummy)
self.assertTrue(
np.allclose(self.cube0.get_quaternion(self.cubes_under_dummy),
[1., 0., 0., 0.]))
self.cube0.set_quaternion([np.sqrt(0.5), 0, 0., np.sqrt(0.5)])
self.assertTrue(
np.allclose(
self.cube0.get_quaternion(),
[np.sqrt(0.5), 0, 0., np.sqrt(0.5)]))
def test_get_set_parent(self):
self.dynamic_cube.set_parent(self.dummy)
parent = self.dynamic_cube.get_parent()
self.assertEqual(parent, self.dummy)
def test_get_set_parent_not_in_place(self):
init_pos = self.dynamic_cube.get_position()
self.dynamic_cube.set_parent(self.dummy, keep_in_place=False)
parent = self.dynamic_cube.get_parent()
self.assertEqual(parent, self.dummy)
self.assertFalse(
np.allclose(init_pos, self.dynamic_cube.get_position()))
def test_get_parent_when_orphan(self):
parent = self.dummy.get_parent()
self.assertIsNone(parent)
def test_get_matrix(self):
self.assertEqual(len(self.dynamic_cube.get_matrix()), 12)
def test_get_set_collidable(self):
self.dynamic_cube.set_collidable(False)
self.assertFalse(self.dynamic_cube.is_collidable())
self.dynamic_cube.set_collidable(True)
self.assertTrue(self.dynamic_cube.is_collidable())
def test_get_set_measurable(self):
self.dynamic_cube.set_measurable(False)
self.assertFalse(self.dynamic_cube.is_measurable())
self.dynamic_cube.set_measurable(True)
self.assertTrue(self.dynamic_cube.is_measurable())
def test_get_set_detectable(self):
self.dynamic_cube.set_detectable(False)
self.assertFalse(self.dynamic_cube.is_detectable())
self.dynamic_cube.set_detectable(True)
self.assertTrue(self.dynamic_cube.is_detectable())
def test_get_set_renderable(self):
self.dynamic_cube.set_renderable(False)
self.assertFalse(self.dynamic_cube.is_renderable())
self.dynamic_cube.set_renderable(True)
self.assertTrue(self.dynamic_cube.is_renderable())
def test_is_model(self):
self.assertFalse(self.dynamic_cube.is_model())
self.assertTrue(self.simple_model.is_model())
def test_set_model(self):
self.simple_model.set_model(False)
self.dynamic_cube.set_model(True)
self.assertFalse(self.simple_model.is_model())
self.assertTrue(self.dynamic_cube.is_model())
def test_remove(self):
self.dynamic_cube.remove()
self.simple_model.remove()
self.assertFalse(self.dynamic_cube.still_exists())
self.assertFalse(self.simple_model.still_exists())
self.assertFalse(Object.exists('dynamic_cube'))
self.assertFalse(Object.exists('simple_model'))
def test_dynamic_object(self):
# Can't really test this. So lets just make sure it doesn't error
self.dynamic_cube.reset_dynamic_object()
def test_get_bounding_box(self):
bb = self.dynamic_cube.get_bounding_box()
self.assertTrue(np.allclose(bb, [-0.05, 0.05] * 3))
def test_get_objects_in_tree(self):
dummys = [Dummy('nested_dummy%d' % i) for i in range(3)]
self.assertListEqual(
dummys[0].get_objects_in_tree(exclude_base=False,
first_generation_only=False), dummys)
self.assertListEqual(
dummys[0].get_objects_in_tree(exclude_base=True,
first_generation_only=False),
dummys[1:])
self.assertListEqual(
dummys[0].get_objects_in_tree(exclude_base=False,
first_generation_only=True),
dummys[:-1])
def test_get_extention_string(self):
self.assertEqual(self.dynamic_cube.get_extension_string(), 'test')
def test_get_configuration_tree(self):
config = self.dynamic_cube.get_configuration_tree()
self.assertIsNotNone(config)
def test_rotate(self):
self.dynamic_cube.rotate([0.02, 0.04, 0.06])
self.assertTrue(
np.allclose(self.dynamic_cube.get_orientation(),
[0.02, 0.04, 0.06]))
def test_get_set_model_collidable(self):
self.simple_model.set_model_collidable(False)
self.assertFalse(self.simple_model.is_model_collidable())
self.simple_model.set_model_collidable(True)
self.assertTrue(self.simple_model.is_model_collidable())
def test_get_set_model_measurable(self):
self.simple_model.set_model_measurable(False)
self.assertFalse(self.simple_model.is_model_measurable())
self.simple_model.set_model_measurable(True)
self.assertTrue(self.simple_model.is_model_measurable())
def test_get_set_model_detectable(self):
self.simple_model.set_model_detectable(False)
self.assertFalse(self.simple_model.is_model_detectable())
self.simple_model.set_model_detectable(True)
self.assertTrue(self.simple_model.is_model_detectable())
def test_get_set_model_renderable(self):
self.simple_model.set_model_renderable(False)
self.assertFalse(self.simple_model.is_model_renderable())
self.simple_model.set_model_renderable(True)
self.assertTrue(self.simple_model.is_model_renderable())
def test_get_set_model_dynamic(self):
self.simple_model.set_model_dynamic(False)
self.assertFalse(self.simple_model.is_model_dynamic())
self.simple_model.set_model_dynamic(True)
self.assertTrue(self.simple_model.is_model_dynamic())
def test_get_set_model_respondable(self):
self.simple_model.set_model_respondable(False)
self.assertFalse(self.simple_model.is_model_respondable())
self.simple_model.set_model_respondable(True)
self.assertTrue(self.simple_model.is_model_respondable())
def test_check_collision(self):
c1 = Shape('colliding_cube0')
c2 = Shape('colliding_cube1')
self.assertTrue(c1.check_collision(c2))
def test_check_collision_all(self):
c1 = Shape('colliding_cube0')
self.assertTrue(c1.check_collision(None))
def test_copy(self):
cube1 = self.cube0.copy()
self.assertGreater(cube1.get_handle(), 0)
self.assertIsInstance(cube1, Shape)
self.assertNotEqual(self.cube0, cube1)
def test_check_distance(self):
dist = self.dummy.check_distance(self.cube0)
self.assertAlmostEqual(dist, 1.4629, places=3)
