Switch get_tesseract() to get_environment() in python tests

Author: Levi Armstrong

tesseract_python/tesseract_python/tests/tesseract_motion_planning/test_descartes_planner.py

@@ -27,27 +27,27 @@ def _locate_resource(url):
     except:
         traceback.print_exc()
 
-def get_tesseract():
+def get_environment():
     locate_resource_fn = SimpleResourceLocatorFn(_locate_resource)
     locator = SimpleResourceLocator(locate_resource_fn)
-    tesseract = Environment()
+    env = Environment()
     tesseract_support = os.environ["TESSERACT_SUPPORT_DIR"]
     urdf_path = FilesystemPath(os.path.join(tesseract_support, "urdf/lbr_iiwa_14_r820.urdf"))
     srdf_path = FilesystemPath(os.path.join(tesseract_support, "urdf/lbr_iiwa_14_r820.srdf"))
-    assert tesseract.init(urdf_path, srdf_path, locator)
+    assert env.init(urdf_path, srdf_path, locator)
     manip_info = ManipulatorInfo()
     manip_info.manipulator = "manipulator"
 
-    return tesseract, manip_info
+    return env, manip_info
 
 def test_ompl_freespace_joint_cart():
 
-    tesseract, manip = get_tesseract()
+    env, manip = get_environment()
 
-    fwd_kin = tesseract.getManipulatorManager().getFwdKinematicSolver(manip.manipulator)
-    inv_kin = tesseract.getManipulatorManager().getInvKinematicSolver(manip.manipulator)
+    fwd_kin = env.getManipulatorManager().getFwdKinematicSolver(manip.manipulator)
+    inv_kin = env.getManipulatorManager().getInvKinematicSolver(manip.manipulator)
     joint_names = fwd_kin.getJointNames()
-    cur_state = tesseract.getCurrentState()
+    cur_state = env.getCurrentState()
 
     wp1 = JointWaypoint(joint_names, np.array([0,0,0,-1.57,0,0,0],dtype=np.float64))
     wp2 = CartesianWaypoint(Isometry3d.Identity() * Translation3d(-.2,.4,0.2) * Quaterniond(0,0,1.0,0))
@@ -60,7 +60,7 @@ def test_ompl_freespace_joint_cart():
     program.setManipulatorInfo(manip)
     program.append(Instruction(plan_f1))
 
-    seed = generateSeed(program, cur_state, tesseract, 3.14, 1.0, 3.14, 10)
+    seed = generateSeed(program, cur_state, env, 3.14, 1.0, 3.14, 10)
 
     plan_profile = DescartesDefaultPlanProfileD()
 
@@ -72,8 +72,8 @@ def test_ompl_freespace_joint_cart():
     request = PlannerRequest()
     request.seed = seed
     request.instructions = program
-    request.env = tesseract
-    request.env_state = tesseract.getCurrentState()
+    request.env = env
+    request.env_state = env.getCurrentState()
 
     response = PlannerResponse()
 

tesseract_python/tesseract_python/tests/tesseract_motion_planning/test_ompl_planner.py

@@ -27,27 +27,27 @@ def _locate_resource(url):
     except:
         traceback.print_exc()
 
-def get_tesseract():
+def get_environment():
     locate_resource_fn = SimpleResourceLocatorFn(_locate_resource)
     locator = SimpleResourceLocator(locate_resource_fn)
-    tesseract = Environment()
+    env = Environment()
     tesseract_support = os.environ["TESSERACT_SUPPORT_DIR"]
     urdf_path = FilesystemPath(os.path.join(tesseract_support, "urdf/lbr_iiwa_14_r820.urdf"))
     srdf_path = FilesystemPath(os.path.join(tesseract_support, "urdf/lbr_iiwa_14_r820.srdf"))
-    assert tesseract.init(urdf_path, srdf_path, locator)
+    assert env.init(urdf_path, srdf_path, locator)
     manip_info = ManipulatorInfo()
     manip_info.manipulator = "manipulator"
 
-    return tesseract, manip_info
+    return env, manip_info
 
 def test_ompl_freespace_joint_cart():
 
-    tesseract, manip = get_tesseract()
+    env, manip = get_environment()
 
-    fwd_kin = tesseract.getManipulatorManager().getFwdKinematicSolver(manip.manipulator)
-    inv_kin = tesseract.getManipulatorManager().getInvKinematicSolver(manip.manipulator)
+    fwd_kin = env.getManipulatorManager().getFwdKinematicSolver(manip.manipulator)
+    inv_kin = env.getManipulatorManager().getInvKinematicSolver(manip.manipulator)
     joint_names = fwd_kin.getJointNames()
-    cur_state = tesseract.getCurrentState()
+    cur_state = env.getCurrentState()
 
     wp1 = JointWaypoint(joint_names, np.array([0,0,0,-1.57,0,0,0],dtype=np.float64))
     wp2 = CartesianWaypoint(Isometry3d.Identity() * Translation3d(-.2,.4,0.2) * Quaterniond(0,0,1.0,0))
@@ -60,7 +60,7 @@ def test_ompl_freespace_joint_cart():
     program.setManipulatorInfo(manip)
     program.append(Instruction(plan_f1))
 
-    seed = generateSeed(program, cur_state, tesseract, 3.14, 1.0, 3.14, 10)
+    seed = generateSeed(program, cur_state, env, 3.14, 1.0, 3.14, 10)
 
     plan_profile = OMPLDefaultPlanProfile()
 
@@ -72,8 +72,8 @@ def test_ompl_freespace_joint_cart():
     request = PlannerRequest()
     request.seed = seed
     request.instructions = program
-    request.env = tesseract
-    request.env_state = tesseract.getCurrentState()
+    request.env = env
+    request.env_state = env.getCurrentState()
 
     response = PlannerResponse()
 
@@ -94,12 +94,12 @@ def test_ompl_freespace_joint_cart():
 
 def test_ompl_freespace_joint_cart_rrtstar():
 
-    tesseract, manip = get_tesseract()
+    env, manip = get_environment()
 
-    fwd_kin = tesseract.getManipulatorManager().getFwdKinematicSolver(manip.manipulator)
-    inv_kin = tesseract.getManipulatorManager().getInvKinematicSolver(manip.manipulator)
+    fwd_kin = env.getManipulatorManager().getFwdKinematicSolver(manip.manipulator)
+    inv_kin = env.getManipulatorManager().getInvKinematicSolver(manip.manipulator)
     joint_names = fwd_kin.getJointNames()
-    cur_state = tesseract.getCurrentState()
+    cur_state = env.getCurrentState()
 
     wp1 = JointWaypoint(joint_names, np.array([0,0,0,-1.57,0,0,0],dtype=np.float64))
     wp2 = CartesianWaypoint(Isometry3d.Identity() * Translation3d(-.2,.4,0.2) * Quaterniond(0,0,1.0,0))
@@ -112,7 +112,7 @@ def test_ompl_freespace_joint_cart_rrtstar():
     program.setManipulatorInfo(manip)
     program.append(Instruction(plan_f1))
 
-    seed = generateSeed(program, cur_state, tesseract, 3.14, 1.0, 3.14, 10)
+    seed = generateSeed(program, cur_state, env, 3.14, 1.0, 3.14, 10)
 
     plan_profile = OMPLDefaultPlanProfile()
     plan_profile.planners.clear()
@@ -126,8 +126,8 @@ def test_ompl_freespace_joint_cart_rrtstar():
     request = PlannerRequest()
     request.seed = seed
     request.instructions = program
-    request.env = tesseract
-    request.env_state = tesseract.getCurrentState()
+    request.env = env
+    request.env_state = env.getCurrentState()
 
     response = PlannerResponse()
 

tesseract_python/tesseract_python/tests/tesseract_motion_planning/test_simple_planner.py

@@ -23,30 +23,30 @@ def _locate_resource(url):
     except:
         traceback.print_exc()
 
-def get_tesseract():
+def get_environment():
     locate_resource_fn = SimpleResourceLocatorFn(_locate_resource)
     locator = SimpleResourceLocator(locate_resource_fn)
-    tesseract = Environment()
+    env = Environment()
     tesseract_support = os.environ["TESSERACT_SUPPORT_DIR"]
     urdf_path = FilesystemPath(os.path.join(tesseract_support, "urdf/lbr_iiwa_14_r820.urdf"))
     srdf_path = FilesystemPath(os.path.join(tesseract_support, "urdf/lbr_iiwa_14_r820.srdf"))
-    assert tesseract.init(urdf_path, srdf_path, locator)
+    assert env.init(urdf_path, srdf_path, locator)
     manip_info = ManipulatorInfo()
     manip_info.manipulator = "manipulator"
-    joint_names = tesseract.getManipulatorManager().getFwdKinematicSolver("manipulator").getJointNames()
+    joint_names = env.getManipulatorManager().getFwdKinematicSolver("manipulator").getJointNames()
 
-    return tesseract, manip_info, joint_names
+    return env, manip_info, joint_names
 
-def test_get_tesseract():
-    get_tesseract()
+def test_get_environment():
+    get_environment()
 
 def test_interpolatestatewaypoint_jointcart_freespace():
-    tesseract, manip_info, joint_names = get_tesseract()
+    env, manip_info, joint_names = get_environment()
 
     request = PlannerRequest()
-    request.env = tesseract
-    request.env_state = tesseract.getCurrentState()
-    fwd_kin = tesseract.getManipulatorManager().getFwdKinematicSolver(manip_info.manipulator)
+    request.env = env
+    request.env_state = env.getCurrentState()
+    fwd_kin = env.getManipulatorManager().getFwdKinematicSolver(manip_info.manipulator)
     wp1 = JointWaypoint(joint_names, np.zeros((7,),dtype=np.float64))
     wp2 = CartesianWaypoint(fwd_kin.calcFwdKin(np.ones((7,),dtype=np.float64))[1])
     instr = PlanInstruction(Waypoint(wp1), PlanInstructionType_FREESPACE, "TEST_PROFILE", manip_info)
@@ -61,4 +61,4 @@ def test_interpolatestatewaypoint_jointcart_freespace():
     mi = composite[-1].cast_const_MoveInstruction()
     last_position = mi.getWaypoint().cast_const_StateWaypoint().position
     _, final_pose = fwd_kin.calcFwdKin(last_position)
-    assert wp2.isApprox(final_pose, 1e-3)
+    assert wp2.isApprox(final_pose, 1e-3)

tesseract_python/tesseract_python/tests/tesseract_motion_planning/test_trajopt_planner.py

@@ -27,28 +27,28 @@ def _locate_resource(url):
     except:
         traceback.print_exc()
 
-def get_tesseract():
+def get_environment():
     locate_resource_fn = SimpleResourceLocatorFn(_locate_resource)
     locator = SimpleResourceLocator(locate_resource_fn)
-    tesseract = Environment()
+    env = Environment()
     tesseract_support = os.environ["TESSERACT_SUPPORT_DIR"]
     urdf_path = FilesystemPath(os.path.join(tesseract_support, "urdf/lbr_iiwa_14_r820.urdf"))
     srdf_path = FilesystemPath(os.path.join(tesseract_support, "urdf/lbr_iiwa_14_r820.srdf"))
-    assert tesseract.init(urdf_path, srdf_path, locator)
+    assert env.init(urdf_path, srdf_path, locator)
     manip_info = ManipulatorInfo()
     manip_info.manipulator = "manipulator"
     manip_info.manipulator_ik_solver = "OPWInvKin"
 
-    return tesseract, manip_info
+    return env, manip_info
 
 def test_trajopt_freespace_joint_cart():
 
-    tesseract, manip = get_tesseract()
+    env, manip = get_environment()
 
-    fwd_kin = tesseract.getManipulatorManager().getFwdKinematicSolver(manip.manipulator)
-    inv_kin = tesseract.getManipulatorManager().getInvKinematicSolver(manip.manipulator)
+    fwd_kin = env.getManipulatorManager().getFwdKinematicSolver(manip.manipulator)
+    inv_kin = env.getManipulatorManager().getInvKinematicSolver(manip.manipulator)
     joint_names = fwd_kin.getJointNames()
-    cur_state = tesseract.getCurrentState()
+    cur_state = env.getCurrentState()
 
     wp1 = JointWaypoint(joint_names, np.array([0,0,0,-1.57,0,0,0],dtype=np.float64))
     wp2 = CartesianWaypoint(Isometry3d.Identity() * Translation3d(-.2,.4,0.2) * Quaterniond(0,0,1.0,0))
@@ -61,7 +61,7 @@ def test_trajopt_freespace_joint_cart():
     program.setManipulatorInfo(manip)
     program.append(Instruction(plan_f1))
 
-    seed = generateSeed(program, cur_state, tesseract, 3.14, 1.0, 3.14, 10)
+    seed = generateSeed(program, cur_state, env, 3.14, 1.0, 3.14, 10)
 
     plan_profile = TrajOptDefaultPlanProfile()
     composite_profile = TrajOptDefaultCompositeProfile()
@@ -75,8 +75,8 @@ def test_trajopt_freespace_joint_cart():
     request = PlannerRequest()
     request.seed = seed
     request.instructions = program
-    request.env = tesseract
-    request.env_state = tesseract.getCurrentState()
+    request.env = env
+    request.env_state = env.getCurrentState()
 
     problem = DefaultTrajoptProblemGenerator(test_planner.getName(), request, test_planner.plan_profiles, test_planner.composite_profiles, test_planner.solver_profiles)
 

tesseract_python/tesseract_python/tests/tesseract_process_managers/test_planning_server.py

@@ -26,22 +26,22 @@ def _locate_resource(url):
     except:
         traceback.print_exc()
 
-def get_tesseract():
+def get_environment():
     locate_resource_fn = SimpleResourceLocatorFn(_locate_resource)
     locator = SimpleResourceLocator(locate_resource_fn)
-    tesseract = Environment()
+    env = Environment()
     tesseract_support = os.environ["TESSERACT_SUPPORT_DIR"]
     urdf_path = FilesystemPath(os.path.join(tesseract_support, "urdf/lbr_iiwa_14_r820.urdf"))
     srdf_path = FilesystemPath(os.path.join(tesseract_support, "urdf/lbr_iiwa_14_r820.srdf"))
-    assert tesseract.init(urdf_path, srdf_path, locator)
+    assert env.init(urdf_path, srdf_path, locator)
     manip_info = ManipulatorInfo()
     manip_info.manipulator = "manipulator"
 
-    return tesseract, manip_info
+    return env, manip_info
 
 def test_planning_server_freespace():
 
-    tesseract, manip = get_tesseract()
+    env, manip = get_environment()
 
     joint_names = ["joint_a1", "joint_a2", "joint_a3", "joint_a4", "joint_a5", "joint_a6", "joint_a7"]
 
@@ -56,7 +56,7 @@ def test_planning_server_freespace():
     program.setManipulatorInfo(manip)
     program.append(Instruction(plan_f1))
 
-    planning_server = ProcessPlanningServer(tesseract, 1)
+    planning_server = ProcessPlanningServer(env, 1)
     planning_server.loadDefaultProcessPlanners()
     request = ProcessPlanningRequest()
     request.name = FREESPACE_PLANNER_NAME

tesseract_python/tesseract_python/tests/tesseract_scene_graph/test_tesseract_scene_graph.py

@@ -158,53 +158,53 @@ def test_load_srdf_unit():
     g.addLink(sg.Link("link_7"))
     g.addLink(sg.Link("tool0"))
 
-    base_joint = sg.Joint("base_joint")
-    base_joint.parent_link_name = "base_link"
-    base_joint.child_link_name = "link_1"
-    base_joint.type = sg.JointType_FIXED
-    g.addJoint(base_joint)
-
-    joint_1 = sg.Joint("joint_1")
-    joint_1.parent_link_name = "link_1"
-    joint_1.child_link_name = "link_2"
-    joint_1.type = sg.JointType_REVOLUTE
+    joint_1 = sg.Joint("joint_a1")
+    joint_1.parent_link_name = "base_link"
+    joint_1.child_link_name = "link_1"
+    joint_1.type = sg.JointType_FIXED
     g.addJoint(joint_1)
 
-    joint_2 = sg.Joint("joint_2")
-    joint_2.parent_to_joint_origin_transform = _translation([1.25,0,0])
-    joint_2.parent_link_name = "link_2"
-    joint_2.child_link_name = "link_3"
+    joint_2 = sg.Joint("joint_a2")
+    joint_2.parent_link_name = "link_1"
+    joint_2.child_link_name = "link_2"
     joint_2.type = sg.JointType_REVOLUTE
     g.addJoint(joint_2)
 
-    joint_3 = sg.Joint("joint_3")
+    joint_3 = sg.Joint("joint_a3")
     joint_3.parent_to_joint_origin_transform = _translation([1.25,0,0])
-    joint_3.parent_link_name = "link_3"
-    joint_3.child_link_name = "link_4"
+    joint_3.parent_link_name = "link_2"
+    joint_3.child_link_name = "link_3"
     joint_3.type = sg.JointType_REVOLUTE
     g.addJoint(joint_3)
 
-    joint_4 = sg.Joint("joint_4")
-    joint_4.parent_to_joint_origin_transform = _translation([0,1.25,0])
-    joint_4.parent_link_name = "link_4"
-    joint_4.child_link_name = "link_5"
+    joint_4 = sg.Joint("joint_a4")
+    joint_4.parent_to_joint_origin_transform = _translation([1.25,0,0])
+    joint_4.parent_link_name = "link_3"
+    joint_4.child_link_name = "link_4"
     joint_4.type = sg.JointType_REVOLUTE
     g.addJoint(joint_4)
 
-    joint_5 = sg.Joint("joint_5")
+    joint_5 = sg.Joint("joint_a5")
     joint_5.parent_to_joint_origin_transform = _translation([0,1.25,0])
-    joint_5.parent_link_name = "link_5"
-    joint_5.child_link_name = "link_6"
+    joint_5.parent_link_name = "link_4"
+    joint_5.child_link_name = "link_5"
     joint_5.type = sg.JointType_REVOLUTE
     g.addJoint(joint_5)
 
-    joint_6 = sg.Joint("joint_6")
+    joint_6 = sg.Joint("joint_a6")
     joint_6.parent_to_joint_origin_transform = _translation([0,1.25,0])
-    joint_6.parent_link_name = "link_6"
-    joint_6.child_link_name = "link_7"
+    joint_6.parent_link_name = "link_5"
+    joint_6.child_link_name = "link_6"
     joint_6.type = sg.JointType_REVOLUTE
     g.addJoint(joint_6)
 
+    joint_7 = sg.Joint("joint_a7")
+    joint_7.parent_to_joint_origin_transform = _translation([0,1.25,0])
+    joint_7.parent_link_name = "link_6"
+    joint_7.child_link_name = "link_7"
+    joint_7.type = sg.JointType_REVOLUTE
+    g.addJoint(joint_7)
+
     joint_tool0 = sg.Joint("base_joint")
     joint_tool0.parent_link_name = "link_7"
     joint_tool0.child_link_name = "tool0"
@@ -227,8 +227,3 @@ def test_load_srdf_unit():
 
     g.clearAllowedCollisions()
     assert len(acm.getAllAllowedCollisions()) == 0
-
-
-
-
-