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Merge pull request #938 from StanfordVL/fix/tr_tests 

fix mixing rule transition rule tests
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hang-yin 2024-10-16 16:41:24 -07:00 committed by GitHub
parent bf1cd0d015 26306ac254
commit 04712c3899
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1 changed files with 18 additions and 3 deletions
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21
tests/test_transition_rules.py
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@ -466,7 +466,12 @@ def test_mixing_rule_failure_recipe_systems(env):
assert lemonade.n_particles == 0
assert sludge.n_particles == 0
tablespoon.set_position_orientation(position=[0.04, 0.0, 0.08], orientation=[0, 0, 0, 1])
# Move the tablespoon to touch the bowl
tablespoon.set_position_orientation(
position=[0.10, 0.0, 0.01], orientation=T.euler2quat(th.tensor([0.0, math.pi / 2, 0.0]))
)
tablespoon.keep_still()
tablespoon.set_linear_velocity(th.tensor([-1.0, 0.0, 0.0]))
og.sim.step()
assert tablespoon.states[Touching].get_value(bowl)
@ -510,7 +515,12 @@ def test_mixing_rule_failure_nonrecipe_systems(env):
assert lemonade.n_particles == 0
assert sludge.n_particles == 0
tablespoon.set_position_orientation(position=[0.04, 0.0, 0.08], orientation=[0, 0, 0, 1])
# Move the tablespoon to touch the bowl
tablespoon.set_position_orientation(
position=[0.10, 0.0, 0.01], orientation=T.euler2quat(th.tensor([0.0, math.pi / 2, 0.0]))
)
tablespoon.keep_still()
tablespoon.set_linear_velocity(th.tensor([-1.0, 0.0, 0.0]))
og.sim.step()
assert tablespoon.states[Touching].get_value(bowl)
@ -550,7 +560,12 @@ def test_mixing_rule_success(env):
assert lemonade.n_particles == 0
tablespoon.set_position_orientation(position=[0.04, 0.0, 0.08], orientation=[0, 0, 0, 1])
# Move the tablespoon to touch the bowl
tablespoon.set_position_orientation(
position=[0.10, 0.0, 0.01], orientation=T.euler2quat(th.tensor([0.0, math.pi / 2, 0.0]))
)
tablespoon.keep_still()
tablespoon.set_linear_velocity(th.tensor([-1.0, 0.0, 0.0]))
og.sim.step()
assert tablespoon.states[Touching].get_value(bowl)