Source code for base.friction_testing

#! /usr/bin/env python
"""
This script tests the Robot's 'friction' property.

http://www.blender.org/documentation/blender_python_api_2_68a_release/bpy.types.MaterialPhysics.html#bpy.types.MaterialPhysics.friction

"""

from morse.testing.testing import MorseTestCase

try:
    # Include this import to be able to use your test file as a regular 
    # builder script, ie, usable with: 'morse [run|exec] <your test>.py
    from morse.builder import *
    from morse.builder.actuators import Light
except ImportError:
    pass

import sys
from pymorse import Morse

[docs]def send_speed(s, simu, v=0, w=0, t=0): s.publish({'v': v, 'w': w}) simu.sleep(t) s.publish({'v': 0.0, 'w': 0.0})
[docs]class FrictionTest(MorseTestCase):
[docs] def setUpEnv(self): """ Defines the test scenario, using the Builder API. """ robot1 = ATRV() pose = Pose() pose.add_stream('socket') robot1.append(pose) motion = MotionVW() motion.add_stream('socket') motion.properties(ControlType='Velocity') robot1.append(motion) robot1.translate(y=-1) robot1.set_friction(0) robot2 = ATRV() pose = Pose() pose.add_stream('socket') robot2.append(pose) motion = MotionVW() motion.add_stream('socket') motion.properties(ControlType='Velocity') robot2.append(motion) robot2.translate(y=+1) robot2.set_friction(5) env = Environment('empty', fastmode = True)
[docs] def test_friction(self): with Morse() as simu: precision=0.1 # Read the start position, it must be (0.0, 0.0, 0.0) for pose_stream in [simu.robot1.pose, simu.robot2.pose]: pose = pose_stream.get() self.assertAlmostEqual(pose['x'], 0.0, delta=precision) # Read the start position, it must be (0.0, 0.0, 0.0) for vw_stream in [simu.robot1.motion, simu.robot2.motion]: send_speed(vw_stream, simu, 1.0, 0.0, 2.0) pose = simu.robot1.pose.get() # friction = 0 / 100 self.assertAlmostEqual(pose['x'], 2.0, delta=precision) pose = simu.robot2.pose.get() # friction = 5 / 100 self.assertAlmostEqual(pose['x'], 1.4, delta=precision) ########################## Run these tests ##########################
if __name__ == "__main__": from morse.testing.testing import main main(FrictionTest)