1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
|
#! /usr/bin/env python
"""
This script tests the human model with a pose sensor.
"""
import sys
from morse.testing.testing import MorseTestCase
from pymorse import Morse
# Include this import to be able to use your test file as a regular
# builder script, ie, usable with: 'morse [run|edit] <your test>.py
try:
from morse.builder import *
except ImportError:
pass
class MultipleHumanTest(MorseTestCase):
def setUpEnv(self):
""" A very simple test scenario, with 3 static human avatars.
"""
human1 = Human()
human1.name = 'roger'
human1.append(Pose("pose"))
human1.translate(x = 5.0)
human1.add_default_interface('socket')
human2 = Human()
human2.name = 'raphael'
human2.append(Pose("pose"))
human2.translate(x = -5.0)
human2.add_default_interface('socket')
human3 = Human()
human3.name = 'novak'
human3.append(Pose("pose"))
keyboard = Keyboard()
keyboard.properties(Speed=1.15)
human3.append(keyboard)
human3.add_default_interface('socket')
env = Environment('empty', fastmode = True)
def test_pose(self):
with Morse() as morse:
p1 = morse.roger.pose.get()
p2 = morse.raphael.pose.get()
p3 = morse.novak.pose.get()
self.assertAlmostEquals(p1['x'], 5.0, delta=0.01)
self.assertAlmostEquals(p2['x'], -5.0, delta=0.01)
self.assertAlmostEquals(p3['x'], 0.0, delta=0.01)
self.assertAlmostEquals(p1['y'], 0.0, delta=0.01)
self.assertAlmostEquals(p2['y'], 0.0, delta=0.01)
self.assertAlmostEquals(p3['y'], 0.0, delta=0.01)
def test_skeletons(self):
with Morse() as morse:
s1 = morse.roger.skeleton.joint_states
s2 = morse.raphael.skeleton.joint_states
s3 = morse.novak.skeleton.joint_states
# Check that the pose is the same for all the models (ie, same joints value)
for j1, j2 in zip(s1.get_state().result().values(), s2.get_state().result().values()):
self.assertAlmostEquals(j1, j2, delta=0.001)
for j1, j3 in zip(s1.get_state().result().values(), s3.get_state().result().values()):
self.assertAlmostEquals(j1, j3, delta=0.001)
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(MultipleHumanTest)
|
