8000 tests · A905275/robotics-toolbox-python@52ea1fa · GitHub
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‎tests/test_VPython.py

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#!/usr/bin/env python3
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import unittest
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import warnings
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from spatialmath import SE3
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from vpython import vector, box
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from numpy import array
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from math import pi
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import time
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from roboticstoolbox.backends.VPython.common_functions import \
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get_pose_x_vec, get_pose_y_vec, get_pose_z_vec, get_pose_pos, \
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vpython_to_se3, wrap_to_pi, close_localhost_session, \
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x_axis_vector, y_axis_vector, z_axis_vector
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from roboticstoolbox.backends.VPython.canvas import GraphicsCanvas3D, \
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draw_reference_frame_axes
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from roboticstoolbox.backends.VPython.graphicalrobot import GraphicalRobot, \
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DefaultJoint, RotationalJoint, PrismaticJoint, StaticJoint, Gripper
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from roboticstoolbox.backends.VPython.stl import import_object_from_numpy_stl
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from roboticstoolbox.backends.VPython.grid import GraphicsGrid
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class TestVPython(unittest.TestCase):
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def setUp(self):
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self.robot_scene = GraphicsCanvas3D()
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# 0.707107 -0.707107 0 0
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# 0.707107 0.707107 0 1
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# 0 0 1 0.4
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# 0 0 0 1
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self.robot_se3 = SE3().Ty(1) * SE3().Tz(0.4) * SE3().Rz(45, 'deg')
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self.robot_structure = 1.0
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self.se3 = SE3().Tx(3)
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warnings.simplefilter('ignore', category=ResourceWarning)
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@classmethod
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def tearDownClass(cls):
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with cls.assertRaises(cls, SystemExit):
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temp = GraphicsCanvas3D()
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close_localhost_session(temp)
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del temp
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# Give time for VPython to exit
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time.sleep(1)
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# import unittest
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# import warnings
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# from spatialmath import SE3
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# from vpython import vector, box
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# from numpy import array
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# from math import pi
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# import time
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# from roboticstoolbox.backends.VPython.common_functions import \
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# get_pose_x_vec, get_pose_y_vec, get_pose_z_vec, get_pose_pos, \
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# vpython_to_se3, wrap_to_pi, close_localhost_session, \
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# x_axis_vector, y_axis_vector, z_axis_vector
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# from roboticstoolbox.backends.VPython.canvas import GraphicsCanvas3D, \
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# draw_reference_frame_axes
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# from roboticstoolbox.backends.VPython.graphicalrobot import GraphicalRobot, \
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# DefaultJoint, RotationalJoint, PrismaticJoint, StaticJoint, Gripper
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# from roboticstoolbox.backends.VPython.stl import import_object_from_numpy_stl
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# from roboticstoolbox.backends.VPython.grid import GraphicsGrid
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# class TestVPython(unittest.TestCase):
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# def setUp(self):
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# self.robot_scene = GraphicsCanvas3D()
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# # 0.707107 -0.707107 0 0
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# # 0.707107 0.707107 0 1
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# # 0 0 1 0.4
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# # 0 0 0 1
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# self.robot_se3 = SE3().Ty(1) * SE3().Tz(0.4) * SE3().Rz(45, 'deg')
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# self.robot_structure = 1.0
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# self.se3 = SE3().Tx(3)
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# warnings.simplefilter('ignore', category=ResourceWarning)
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# @classmethod
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# def tearDownClass(cls):
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# with cls.assertRaises(cls, SystemExit):
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# temp = GraphicsCanvas3D()
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# close_localhost_session(temp)
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# del temp
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# # Give time for VPython to exit
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# time.sleep(1)
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#####################################################################
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# def test_get_pose_x_vector(self):

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