| import unittest |
| from tests.core import TestCore |
| from pyrep import PyRep |
| from pyrep.objects.shape import Shape |
| from os import path |
|
|
| from pyrep.robots.end_effectors.dobot_suction_cup import DobotSuctionCup |
| from pyrep.robots.end_effectors.baxter_suction_cup import BaxterSuctionCup |
|
|
| ASSET_DIR = path.join(path.dirname(path.abspath(__file__)), 'assets') |
|
|
| SUCTION_CUPS = [ |
| ('DobotSuctionCup', DobotSuctionCup), |
| ('BaxterSuctionCup', BaxterSuctionCup), |
| ] |
|
|
|
|
| class TestSuctionCups(TestCore): |
|
|
| def setUp(self): |
| self.pyrep = PyRep() |
| self.pyrep.launch(path.join( |
| ASSET_DIR, 'test_scene_robots.ttt'), headless=True) |
| self.pyrep.step() |
| self.pyrep.start() |
|
|
| def test_get_suction_cup(self): |
| for cup_name, cup_type in SUCTION_CUPS: |
| with self.subTest(suction_cup=cup_name): |
| cup = cup_type() |
| self.assertIsInstance(cup, cup_type) |
|
|
| def test_grasp_and_release_with_suction(self): |
| for cup_name, cup_type in SUCTION_CUPS: |
| with self.subTest(suction_cup=cup_name): |
| suction_cube = Shape('%s_cube' % cup_name) |
| cube = Shape('cube') |
| cup = cup_type() |
| self.pyrep.step() |
| grasped = cup.grasp(cube) |
| self.assertFalse(grasped) |
| self.assertEqual(len(cup.get_grasped_objects()), 0) |
| grasped = cup.grasp(suction_cube) |
| self.assertTrue(grasped) |
| self.assertListEqual(cup.get_grasped_objects(), [suction_cube]) |
| cup.release() |
| self.assertEqual(len(cup.get_grasped_objects()), 0) |
|
|
|
|
| if __name__ == '__main__': |
| unittest.main() |
|
|
