[tests] Fixed tests with independend paths

Tigul · Apr 8, 2024 · 85eddde · 85eddde
1 parent 1382bc1
commit 85eddde
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Showing 6 changed files with 15 additions and 9 deletions.
diff --git a/requirements-resolver.txt b/requirements-resolver.txt
@@ -1,4 +1,3 @@
 -r requirements.txt
 probabilistic_model>=4.0.8
 random_events>=2.0.9
-tqdm
diff --git a/src/pycram/datastructures/dataclasses.py b/src/pycram/datastructures/dataclasses.py
@@ -2,8 +2,8 @@
 
 from dataclasses import dataclass
 from typing_extensions import List, Optional, Tuple, Callable, Dict, Any, Union, TYPE_CHECKING
-from .datastructures.enums import JointType, Shape
-from .datastructures.pose import Pose, Point
+from .enums import JointType, Shape
+from .pose import Pose, Point
 from abc import ABC, abstractmethod
 
 if TYPE_CHECKING:

diff --git a/src/pycram/datastructures/local_transformer.py b/src/pycram/datastructures/local_transformer.py
@@ -9,7 +9,7 @@
 from rospy import Duration
 
 from geometry_msgs.msg import TransformStamped
-from .datastructures.pose import Pose, Transform
+from .pose import Pose, Transform
 from typing_extensions import List, Optional, Union, Iterable
 
 

diff --git a/test/test_cache_manager.py b/test/test_cache_manager.py
@@ -3,13 +3,15 @@
 from bullet_world_testcase import BulletWorldTestCase
 from pycram.datastructures.enums import ObjectType
 from pycram.world_concepts.world_object import Object
+import pathlib
 
 
 class TestCacheManager(BulletWorldTestCase):
 
     def test_generate_description_and_write_to_cache(self):
         cache_manager = self.world.cache_manager
-        path = "../resources/apartment.urdf"
+        file_path = pathlib.Path(__file__).parent.resolve()
+        path = str(file_path) + "/../resources/apartment.urdf"
         extension = Path(path).suffix
         cache_path = self.world.cache_dir + "apartment.urdf"
         apartment = Object("apartment", ObjectType.ENVIRONMENT, path)

diff --git a/test/test_description.py b/test/test_description.py
@@ -1,3 +1,5 @@
+import pathlib
+
 from bullet_world_testcase import BulletWorldTestCase
 
 
@@ -19,9 +21,11 @@ def test_joint_child_link(self):
         self.assertEqual(self.robot.get_joint_parent_link("base_footprint_joint"), self.robot.root_link)
 
     def test_generate_description_from_mesh(self):
-        self.assertTrue(self.milk.description.generate_description_from_file("../resources/cached/milk.stl",
+        file_path = pathlib.Path(__file__).parent.resolve()
+        self.assertTrue(self.milk.description.generate_description_from_file(str(file_path) + "/../resources/cached/milk.stl",
                                                                              "milk", ".stl"))
 
     def test_generate_description_from_description_file(self):
-        self.assertTrue(self.milk.description.generate_description_from_file("../resources/cached/milk.urdf",
+        file_path = pathlib.Path(__file__).parent.resolve()
+        self.assertTrue(self.milk.description.generate_description_from_file(str(file_path) + "/../resources/cached/milk.urdf",
                                                                              "milk", ".urdf"))
diff --git a/test/test_object.py b/test/test_object.py
@@ -8,7 +8,7 @@
 from pycram.world_concepts.world_object import Object
 
 from geometry_msgs.msg import Point, Quaternion
-
+import pathlib
 
 class TestObject(BulletWorldTestCase):
 
@@ -17,7 +17,8 @@ def test_wrong_object_description_path(self):
             milk = Object("milk2", ObjectType.MILK, "wrong_path.sk")
 
     def test_malformed_object_description(self):
-        malformed_file = "../resources/cached/malformed_description.urdf"
+        file_path = pathlib.Path(__file__).parent.resolve()
+        malformed_file = str(file_path) + "/../resources/cached/malformed_description.urdf"
         with open(malformed_file, "w") as file:
             file.write("malformed")
         with self.assertRaises(Exception):