From 63487099bc88a9782a2e8b44e3c817e13dcbf9a4 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Fri, 5 Mar 2021 23:05:28 +0100
Subject: [PATCH] [tests] no body have a 1.0 kg mass
ref #67
In case we actually have a 1.0kg body, we can still put its name into
the one_kg_bodies arg.
---
unittest/test_load.py | 24 +++++++++++++++++++++---
1 file changed, 21 insertions(+), 3 deletions(-)
diff --git a/unittest/test_load.py b/unittest/test_load.py
index 9b5d742..a2993cb 100755
--- a/unittest/test_load.py
+++ b/unittest/test_load.py
@@ -2,16 +2,34 @@
import unittest
-from example_robot_data import load
+try:
+ import pybullet
+except ImportError:
+ pass
+
+from example_robot_data import load_full
class RobotTestCase(unittest.TestCase):
- def check(self, name, expected_nq, expected_nv):
+ def check(self, name, expected_nq, expected_nv, one_kg_bodies=[]):
"""Helper function for the real tests"""
- robot = load(name, display=False)
+ robot, _, urdf, _ = load_full(name, display=False)
self.assertEqual(robot.model.nq, expected_nq)
self.assertEqual(robot.model.nv, expected_nv)
self.assertTrue(hasattr(robot, "q0"))
+ if pybullet:
+ self.check_pybullet(urdf, one_kg_bodies)
+
+ def check_pybullet(self, urdf, one_kg_bodies):
+ client_id = pybullet.connect(pybullet.DIRECT)
+ robot_id = pybullet.loadURDF(urdf, physicsClientId=client_id)
+ for joint_id in range(pybullet.getNumJoints(robot_id, client_id)):
+ dynamics = pybullet.getDynamicsInfo(robot_id, joint_id, client_id)
+ if dynamics[0] == 1:
+ joint = pybullet.getJointInfo(robot_id, joint_id, client_id)
+ # with self.subTest(): # uncomment on python >= 3.4 to get full list of wrong bodies at once
+ self.assertIn(joint[12].decode(), one_kg_bodies)
+ pybullet.disconnect(client_id)
def test_anymal(self):
self.check('anymal', 19, 18)
--
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