84 lines
1.8 KiB
Python
84 lines
1.8 KiB
Python
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from omnigibson.objects import DatasetObject
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import omnigibson as og
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from omnigibson.utils.python_utils import NAMES
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from utils import og_test
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import pytest
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@og_test
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def test_removal_and_readdition():
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# Make a copy of NAMES
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initial_names = NAMES.copy()
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# Add an apple
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apple = DatasetObject(
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name="apple",
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category="apple",
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model="agveuv",
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)
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# Import it into the scene
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og.sim.import_object(apple)
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# Check that NAMES has changed
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assert NAMES != initial_names
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# Step a few times
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for _ in range(5):
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og.sim.step()
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# Remove the apple
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og.sim.remove_object(obj=apple)
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# Check that NAMES is the same as before
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extra_names = NAMES - initial_names
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assert len(extra_names) == 0, f"Extra names: {extra_names}"
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# Importing should work now
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apple2 = DatasetObject(
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name="apple",
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category="apple",
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model="agveuv",
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)
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og.sim.import_object(apple2)
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@og_test
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def test_readdition():
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# Make a copy of NAMES
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initial_names = NAMES.copy()
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# Add an apple
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apple = DatasetObject(
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name="apple",
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category="apple",
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model="agveuv",
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)
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# Import it into the scene
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og.sim.import_object(apple)
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# Check that NAMES has changed
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new_names = NAMES.copy()
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assert new_names != initial_names
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# Step a few times
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for _ in range(5):
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og.sim.step()
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# Creating and importing a new apple should fail
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with pytest.raises(AssertionError):
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apple2 = DatasetObject(
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name="apple",
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category="apple",
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model="agveuv",
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)
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og.sim.import_object(apple2)
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# Check that NAMES has not changed
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assert NAMES == new_names
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if __name__ == "__main__":
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test_removal_and_readdition()
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