2 import pinocchio
as pin
6 @unittest.skipUnless(pin.WITH_HPP_FCL,
"Needs HPP-FCL")
9 self.
model = pin.buildSampleModelHumanoid()
14 self.assertTrue(col.name ==
"rleg_shoulder_object")
15 col.name =
"new_collision_name"
16 self.assertTrue(col.name ==
"new_collision_name")
20 self.assertTrue(col.parentJoint == 2)
22 self.assertTrue(col.parentJoint == 3)
25 m = pin.SE3.Identity()
26 new_m = pin.SE3.Random()
28 self.assertTrue(np.allclose(col.placement.homogeneous, m.homogeneous))
30 self.assertTrue(np.allclose(col.placement.homogeneous, new_m.homogeneous))
34 self.assertTrue(col.meshPath
is not None)
46 self.assertTrue(self.
model.check(data_2))
47 self.assertEqual(len(collision_data_2.oMg), self.
collision_model.ngeoms)
51 self.assertEqual(self.
collision_model.ngeoms, collision_model_copy.ngeoms)
54 collision_data_copy = collision_data.copy()
55 self.assertEqual(len(collision_data.oMg), len(collision_data_copy.oMg))
59 self.assertTrue(isinstance(col.meshMaterial, (pin.GeometryNoMaterial)))
60 col.meshMaterial = pin.GeometryPhongMaterial()
61 self.assertTrue(isinstance(col.meshMaterial, (pin.GeometryPhongMaterial)))
62 material = col.meshMaterial
63 self.assertTrue(isinstance(material, (pin.GeometryPhongMaterial)))
64 material.meshEmissionColor = np.array([1.0, 1.0, 1.0, 1.0])
65 material.meshShininess = 0.7
67 (material.meshEmissionColor == col.meshMaterial.meshEmissionColor).all()
69 self.assertEqual(material.meshShininess, col.meshMaterial.meshShininess)
72 if __name__ ==
"__main__":