Merge pull request #188 from empriselab/justin/test-env

Base Env test cases

.github/workflows/ci.yml

@@ -37,6 +37,7 @@ jobs:
           cd ../
 
           python3 -m pip install https://github.com/ompl/ompl/releases/download/prerelease/ompl-1.6.0-cp310-cp310-manylinux_2_28_x86_64.whl
+          sudo apt-get install libminizip1
 
       - name: Run unit tests
         run: |

README.md

@@ -24,6 +24,7 @@ If you have an NVIDIA GPU, install an NVIDIA Driver from the official [NVIDIA Dr
 Install the necessary libraries:
 ```
 sudo apt-get update
+sudo apt-get install libminizip1
 sudo apt-get install libassimp-dev libopenblas-dev liblapack-dev
 ```
 

pyrcareworld/pyrcareworld/demo/examples/example_custom_message.py

@@ -19,51 +19,59 @@
 import os
 import sys
 import pyrcareworld.attributes as attr
-
-sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..")))
-
+import argparse
 from pyrcareworld.demo import executable_path
 from pyrcareworld.envs.base_env import RCareWorld
 
-# Initialize the environment with the specified scene file
-player_path = os.path.join(executable_path, "../executable/Player/Player.x86_64")
 
-# Initialize the environment with a custom asset
-env = RCareWorld(assets=["CustomAttr"], executable_file=player_path)
+def _main(dev):
+    sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..")))
+
+    # Initialize the environment with the specified scene file
+    player_path = os.path.join(executable_path, "../executable/Player/Player.x86_64")
+
+    # Initialize the environment with a custom asset
+    env = RCareWorld(executable_file="@editor" if dev else player_path, assets=["CustomAttr"])
+
+    # Create an instance of a custom attribute and send a custom message
+    custom = env.InstanceObject(name="CustomAttr", id=1, attr_type=attr.CustomAttr)
+    custom.CustomMessage(message="this is instance channel custom message")
 
-# Create an instance of a custom attribute and send a custom message
-custom = env.InstanceObject(name="CustomAttr", id=123456, attr_type=attr.CustomAttr)
-custom.CustomMessage(message="this is instance channel custom message")
+    # Perform a simulation step to process the custom message
+    env.step()
 
-# Perform a simulation step to process the custom message
-env.step()
+    # Print the custom message data
+    print(custom.data["custom_message"])
 
-# Print the custom message data
-print(custom.data["custom_message"])
+    # Callback function to handle dynamic object messages
+    def dynamic_object_callback(args):
+        for i, arg in enumerate(args):
+            print(f"Arg {i}: {arg}", type(arg))
 
-# Callback function to handle dynamic object messages
-def dynamic_object_callback(args):
-    for i, arg in enumerate(args):
-        print(f"Arg {i}: {arg}")
+    # Add a listener for dynamic object messages
+    env.AddListenerObject("DynamicObject", dynamic_object_callback)
 
-# Add a listener for dynamic object messages
-env.AddListenerObject("DynamicObject", dynamic_object_callback)
+    # Send a dynamic object message with various data types
+    env.SendObject(
+        "DynamicObject",
+        "string:", "this is dynamic object",
+        "int:", 1,
+        "bool:", True,
+        "float:", 4849.6564,
+        "list:", [616445.085, 9489984.0, 65419596.0, 9849849.0],
+        "dict:", {"1": 1, "2": 2, "3": 3},
+        "tuple:", ("1", 1, 0.562)
+    )
 
-# Send a dynamic object message with various data types
-env.SendObject(
-    "DynamicObject",
-    "string:", "this is dynamic object",
-    "int:", 123456,
-    "bool:", True,
-    "float:", 4849.6564,
-    "list:", [616445.085, 9489984.0, 65419596.0, 9849849.0],
-    "dict:", {"1": 1, "2": 2, "3": 3},
-    "tuple:", ("1", 1, 0.562)
-)
+    # Perform a simulation step to process the dynamic object message
+    env.step()
 
-# Perform a simulation step to process the dynamic object message
-env.step()
+    # Close the environment
+    env.Pend()
+    env.close()
 
-# Close the environment
-env.Pend()
-env.close()
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description='Run RCareWorld bathing environment simulation for sponge forces.')
+    parser.add_argument('-d', '--dev', action='store_true', help='Run in developer mode')
+    args = parser.parse_args()
+    _main(args.dev)

pyrcareworld/pyrcareworld/demo/examples/example_save_scene.py

@@ -0,0 +1,63 @@
+from pyrcareworld.envs.base_env import RCareWorld
+import pyrcareworld.attributes as attr
+
+import os
+import sys
+import argparse
+import pytest
+from pyrcareworld.demo import executable_path
+
+def _main(dev):
+  sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..")))
+  # Initialize the environment with the specified scene file
+  player_path = os.path.join(executable_path, "../executable/Player/Player.x86_64")
+
+  env = RCareWorld(assets=["Collider_Box", "Rigidbody_Sphere"], executable_file="@editor" if dev else player_path)
+
+  box1 = env.InstanceObject(name="Collider_Box", attr_type=attr.ColliderAttr, id=1)
+  box1.SetTransform(position=[-0.5, 0.5, 0], scale=[0.1, 1, 1])
+  box2 = env.InstanceObject(name="Collider_Box", attr_type=attr.ColliderAttr, id=2)
+  box2.SetTransform(position=[0.5, 0.5, 0], scale=[0.1, 1, 1])
+  box3 = env.InstanceObject(name="Collider_Box", attr_type=attr.ColliderAttr, id=3)
+  box3.SetTransform(position=[0, 0.5, 0.5], scale=[1, 1, 0.1])
+  box4 = env.InstanceObject(name="Collider_Box", attr_type=attr.ColliderAttr, id=4)
+  box4.SetTransform(position=[0, 0.5, -0.5], scale=[1, 1, 0.1])
+  sphere = env.InstanceObject(name="Rigidbody_Sphere", attr_type=attr.RigidbodyAttr, id=5)
+  sphere.SetTransform(position=[0, 0.5, 0], scale=[0.5, 0.5, 0.5])
+  env.Pend()
+
+  env.SaveScene("test_scene.json")
+  env.ClearScene()
+  env.Pend()
+
+  with pytest.raises(AssertionError):
+    env.GetAttr(1)
+
+  with pytest.raises(AssertionError):
+    env.GetAttr(2)
+
+  with pytest.raises(AssertionError):
+    env.GetAttr(3)
+
+  with pytest.raises(AssertionError):
+    env.GetAttr(4)
+
+  with pytest.raises(AssertionError):
+    env.GetAttr(5)
+
+  env.LoadSceneAsync("test_scene.json")
+  env.Pend()
+
+  assert env.GetAttr(1).data["name"] == "Collider_Box"
+  assert env.GetAttr(2).data["name"] == "Collider_Box"
+  assert env.GetAttr(3).data["name"] == "Collider_Box"
+  assert env.GetAttr(4).data["name"] == "Collider_Box"
+  assert env.GetAttr(5).data["name"] == "Rigidbody_Sphere"
+
+  env.close()
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description='Run RCareWorld bathing environment simulation for sponge forces.')
+    parser.add_argument('-d', '--dev', action='store_true', help='Run in developer mode')
+    args = parser.parse_args()
+    _main(args.dev)