Merge pull request #62 from pFernbach/devel

Add no-viewer mode and tests

tests/CMakeLists.txt

+ADD_SUBDIRECTORY(python)

tests/python/CMakeLists.txt

+SET(${PROJECT_NAME}_PYTHON_TESTS
+  test_talos_walk_contacts
+  test_talos_walk_path
+  test_rbprm_state_6d
+  test_rbprm_state_3d
+  )
+
+FOREACH(TEST ${${PROJECT_NAME}_PYTHON_TESTS})
+  ADD_PYTHON_UNIT_TEST("py-${TEST}" "tests/python/${TEST}.py")
+  SET_TESTS_PROPERTIES("py-${TEST}" PROPERTIES RUN_SERIAL "ON")
+ENDFOREACH(TEST ${${PROJECT_NAME}_PYTHON_TESTS})

tests/python/test_rbprm_state_3d.py

+# Copyright (c) 2020, CNRS
+# Authors: Pierre Fernbach <pfernbac@laas.fr>
+import unittest
+import subprocess
+import time
+from hpp.corbaserver.rbprm.rbprmstate import State, StateHelper
+from hpp.corbaserver.rbprm.hyq import Robot
+
+
+class TestRBPRMstate3D(unittest.TestCase):
+    def test_contacts_3d(self):
+        subprocess.run(["killall", "hpp-rbprm-server"])
+        process = subprocess.Popen("hpp-rbprm-server")
+        time.sleep(3)
+        fullbody = Robot()
+        fullbody.client.robot.setDimensionExtraConfigSpace(6)
+        fullbody.setJointBounds("root_joint", [-10, 10, -10, 10, -10, 10])
+        fullbody.client.robot.setExtraConfigSpaceBounds([-10, 10, -10, 10, -10, 10, -10, 10, -10, 10, -10, 10])
+        fullbody.loadAllLimbs("static", nbSamples=10000)
+        q = fullbody.referenceConfig[::] + [0] * 6
+        fullbody.setCurrentConfig(q)
+        com = fullbody.getCenterOfMass()
+        contacts = [fullbody.rLegId, fullbody.lLegId, fullbody.rArmId, fullbody.lArmId]
+        state = State(fullbody, q=q, limbsIncontact=contacts)
+        self.assertTrue(state.isBalanced())
+        self.assertTrue(state.isValid()[0])
+        self.assertTrue(state.isLimbInContact(fullbody.rLegId))
+        self.assertTrue(state.isLimbInContact(fullbody.lLegId))
+        self.assertTrue(state.isLimbInContact(fullbody.rArmId))
+        self.assertTrue(state.isLimbInContact(fullbody.lArmId))
+        self.assertEqual(com, state.getCenterOfMass())
+
+        # remove rf contact :
+        state1, success = StateHelper.removeContact(state, fullbody.rLegId)
+        self.assertTrue(success)
+        self.assertFalse(state1.isLimbInContact(fullbody.rLegId))
+        self.assertTrue(state1.isLimbInContact(fullbody.lLegId))
+        self.assertTrue(state.isLimbInContact(fullbody.rArmId))
+        self.assertTrue(state.isLimbInContact(fullbody.lArmId))
+        self.assertEqual(com, state1.getCenterOfMass())
+
+        # create a new contact :
+        n = [0, 0, 1]
+        p = [0.45, -0.2, 0.002]
+        state2, success = StateHelper.addNewContact(state1, fullbody.rLegId, p, n)
+        self.assertTrue(success)
+        self.assertTrue(state2.isLimbInContact(fullbody.rLegId))
+        self.assertTrue(state2.isLimbInContact(fullbody.lLegId))
+        self.assertTrue(state.isLimbInContact(fullbody.rArmId))
+        self.assertTrue(state.isLimbInContact(fullbody.lArmId))
+        self.assertTrue(state2.isBalanced())
+
+        process.kill()
+
+
+if __name__ == '__main__':
+    unittest.main()

tests/python/test_rbprm_state_6d.py

+# Copyright (c) 2020, CNRS
+# Authors: Pierre Fernbach <pfernbac@laas.fr>
+import unittest
+import subprocess
+import time
+from hpp.corbaserver.rbprm.rbprmstate import State, StateHelper
+from talos_rbprm.talos import Robot
+
+
+class TestRBPRMstate6D(unittest.TestCase):
+    def test_contacts_6d(self):
+        subprocess.run(["killall", "hpp-rbprm-server"])
+        process = subprocess.Popen("hpp-rbprm-server")
+        time.sleep(3)
+        fullbody = Robot()
+        fullbody.client.robot.setDimensionExtraConfigSpace(6)
+        fullbody.setJointBounds("root_joint", [-10, 10, -10, 10, -10, 10])
+        fullbody.client.robot.setExtraConfigSpaceBounds([-10, 10, -10, 10, -10, 10, -10, 10, -10, 10, -10, 10])
+        fullbody.loadAllLimbs("static", nbSamples=10000)
+        q = fullbody.referenceConfig[::] + [0] * 6
+        fullbody.setCurrentConfig(q)
+        com = fullbody.getCenterOfMass()
+        contacts = [fullbody.rLegId, fullbody.lLegId]
+        state = State(fullbody, q=q, limbsIncontact=contacts)
+        self.assertTrue(state.isBalanced())
+        self.assertTrue(state.isValid()[0])
+        self.assertTrue(state.isLimbInContact(fullbody.rLegId))
+        self.assertTrue(state.isLimbInContact(fullbody.lLegId))
+        self.assertEqual(com, state.getCenterOfMass())
+
+        # remove rf contact :
+        state1, success = StateHelper.removeContact(state, fullbody.rLegId)
+        self.assertTrue(success)
+        self.assertFalse(state1.isLimbInContact(fullbody.rLegId))
+        self.assertTrue(state1.isLimbInContact(fullbody.lLegId))
+        self.assertFalse(state1.isBalanced())
+        self.assertEqual(com, state1.getCenterOfMass())
+
+        # create a new contact :
+        n = [0, 0, 1]
+        p = [0.15, -0.085, 0.002]
+        state2, success = StateHelper.addNewContact(state1, fullbody.rLegId, p, n)
+        self.assertTrue(success)
+        self.assertTrue(state2.isLimbInContact(fullbody.rLegId))
+        self.assertTrue(state2.isLimbInContact(fullbody.lLegId))
+        self.assertTrue(state2.isBalanced())
+        p2, n2 = state2.getCenterOfContactForLimb(fullbody.rLegId)
+        self.assertEqual(n, n2)
+        for i in range(3):
+            self.assertAlmostEqual(p[i], p2[i], 2)
+
+        # try to replace a contact :
+        p = [0.2, 0.085, 0.002]
+        state3, success = StateHelper.addNewContact(state2, fullbody.lLegId, p, n)
+        self.assertTrue(success)
+        self.assertTrue(state3.isLimbInContact(fullbody.rLegId))
+        self.assertTrue(state3.isLimbInContact(fullbody.lLegId))
+        self.assertTrue(state3.isBalanced())
+
+        ## try com projection:
+        com_target = com[::]
+        com_target[2] -= 0.08
+        success = state.projectToCOM(com_target)
+        self.assertTrue(success)
+        fullbody.setCurrentConfig(state.q())
+        com_state = fullbody.getCenterOfMass()
+        self.assertEqual(com_state, state.getCenterOfMass())
+        for i in range(3):
+            self.assertAlmostEqual(com_state[i], com_target[i], 4)
+
+        # try lockOtherJoints:
+        p = [0.1, -0.085, 0.002]
+        state4, success = StateHelper.addNewContact(state, fullbody.rLegId, p, n, lockOtherJoints=True)
+        self.assertTrue(success)
+        self.assertTrue(state4.isLimbInContact(fullbody.rLegId))
+        self.assertTrue(state4.isLimbInContact(fullbody.lLegId))
+        self.assertTrue(state4.isBalanced())
+        for i in range(7, 13):
+            self.assertAlmostEqual(state.q()[i], state4.q()[i])
+        for i in range(19, len(q)):
+            self.assertAlmostEqual(state.q()[i], state4.q()[i])
+
+        # try with a rotation
+        rot = [0.259, 0, 0, 0.966]
+        state5, success = StateHelper.addNewContact(state, fullbody.rLegId, p, n, rotation=rot)
+        self.assertTrue(success)
+        self.assertTrue(state5.isLimbInContact(fullbody.rLegId))
+        self.assertTrue(state5.isLimbInContact(fullbody.lLegId))
+        self.assertTrue(state5.isBalanced())
+        fullbody.setCurrentConfig(state5.q())
+        rf_pose = fullbody.getJointPosition(fullbody.rfoot)
+        for i in range(4):
+            self.assertAlmostEqual(rf_pose[i + 3], rot[i], 3)
+
+        process.kill()
+
+
+if __name__ == '__main__':
+    unittest.main()

tests/python/test_talos_walk_contacts.py

+# Copyright (c) 2020, CNRS
+# Authors: Pierre Fernbach <pfernbac@laas.fr>
+import subprocess
+from importlib import import_module
+import unittest
+import time
+
+PATH = "hpp.corbaserver.rbprm.scenarios.demos"
+
+
+class TestTalosWalkContact(unittest.TestCase):
+    def test_talos_walk_contacts(self):
+        subprocess.run(["killall", "hpp-rbprm-server"])
+        process = subprocess.Popen("hpp-rbprm-server")
+        time.sleep(3)
+        module_scenario = import_module(PATH + ".talos_flatGround")
+        if not hasattr(module_scenario, 'ContactGenerator'):
+            self.assertTrue(False)
+        ContactGenerator = getattr(module_scenario, 'ContactGenerator')
+        cg = ContactGenerator()
+        cg.run()
+        self.assertTrue(len(cg.configs) > 5)
+        self.assertTrue(len(cg.configs) < 10)
+        self.assertEqual(cg.q_init, cg.configs[0])
+        self.assertEqual(cg.q_goal, cg.configs[-1])
+        process.kill()
+
+
+if __name__ == '__main__':
+    unittest.main()

tests/python/test_talos_walk_path.py

+# Copyright (c) 2020, CNRS
+# Authors: Pierre Fernbach <pfernbac@laas.fr>
+import subprocess
+from importlib import import_module
+import os
+import unittest
+import time
+
+PATH = "hpp.corbaserver.rbprm.scenarios.demos"
+
+
+class TestTalosWalkPath(unittest.TestCase):
+    def test_talos_walk_path(self):
+        subprocess.run(["killall", "hpp-rbprm-server"])
+        process = subprocess.Popen("hpp-rbprm-server")
+        time.sleep(3)
+        module_scenario = import_module(PATH + ".talos_flatGround_path")
+        if not hasattr(module_scenario, 'PathPlanner'):
+            self.assertTrue(False)
+        PathPlanner = getattr(module_scenario, 'PathPlanner')
+        planner = PathPlanner()
+        planner.run()
+        ps = planner.ps
+        self.assertEqual(ps.numberPaths(), 2)
+        self.assertEqual(ps.pathLength(0), ps.pathLength(1))
+        self.assertTrue(ps.pathLength(1) > 6.)
+        self.assertTrue(ps.pathLength(1) < 7.)
+        self.assertEqual(planner.q_init, ps.configAtParam(1, 0))
+        self.assertEqual(planner.q_goal, ps.configAtParam(1, ps.pathLength(1)))
+        process.kill()
+
+
+if __name__ == '__main__':
+    unittest.main()