[tests] split bullet world tetsts into testCase and unittests

src/pycram/bullet_world.py

@@ -408,7 +408,7 @@ def __enter__(self):
     def __exit__(self, *args):
         if not self.prev_world == None:
             BulletWorld.current_bullet_world = self.prev_world
-            BulletWorld.current_bullet_world.world_sync.pause_sync = False
+        BulletWorld.current_bullet_world.world_sync.pause_sync = False
 
 
 class WorldSync(threading.Thread):

test/bullet_world_testcase.py

@@ -0,0 +1,54 @@
+import unittest
+
+import numpy as np
+import rospkg
+
+from pycram.bullet_world import BulletWorld, Object, fix_missing_inertial
+from pycram.pose import Pose
+from pycram.robot_descriptions import robot_description
+from pycram.process_module import ProcessModule
+from pycram.enums import ObjectType
+import os
+import xml.etree.ElementTree as ET
+import tf
+
+
+class BulletWorldTestCase(unittest.TestCase):
+
+    world: BulletWorld
+
+    @classmethod
+    def setUpClass(cls):
+        cls.world = BulletWorld("DIRECT")
+        cls.robot = Object(robot_description.name, ObjectType.ROBOT, robot_description.name + ".urdf")
+        cls.kitchen = Object("kitchen", ObjectType.ENVIRONMENT, "kitchen.urdf")
+        cls.milk = Object("milk", ObjectType.MILK, "milk.stl", pose=Pose([1.3, 1, 0.9]))
+        cls.cereal = Object("cereal", ObjectType.BREAKFAST_CEREAL, "breakfast_cereal.stl", pose=Pose([1.3, 0.7, 0.95]))
+        ProcessModule.execution_delay = False
+
+    def setUp(self):
+        self.world.reset_bullet_world()
+
+
+
+    def tearDown(self):
+        self.world.reset_bullet_world()
+
+    @classmethod
+    def tearDownClass(cls):
+        cls.world.exit()
+
+
+class XMLTester(unittest.TestCase):
+
+    def setUp(self) -> None:
+        rospack = rospkg.RosPack()
+        filename = rospack.get_path('pycram') + '/resources/' + 'pr2.urdf'
+        with open(filename, "r") as f:
+            self.urdf_string = f.read()
+
+    def test_inertial(self):
+        result = fix_missing_inertial(self.urdf_string)
+        resulting_tree = ET.ElementTree(ET.fromstring(result))
+        for element in resulting_tree.iter("link"):
+            self.assertTrue(len([*element.iter("inertial")]) > 0)

test/local_transformer_tests.py

@@ -7,10 +7,10 @@
 from src.pycram.local_transformer import LocalTransformer
 from pycram.robot_descriptions import robot_description
 from pycram.pose import Pose, Transform
-import test_bullet_world
+import bullet_world_testcase
 
 
-class TestLocalTransformer(test_bullet_world.BulletWorldTest):
+class TestLocalTransformer(test_bullet_world.BulletWorldTestCase):
 
     def test_singelton(self):
         l1 = LocalTransformer()

test/test_action_designator.py

@@ -6,11 +6,11 @@
 from pycram.pose import Pose
 from pycram.enums import ObjectType
 import pycram.enums
-import test_bullet_world
+from bullet_world_testcase import BulletWorldTestCase
 import numpy as np
 
 
-class TestActionDesignatorGrounding(test_bullet_world.BulletWorldTest):
+class TestActionDesignatorGrounding(BulletWorldTestCase):
     """Testcase for the grounding methods of action designators."""
 
     def test_move_torso(self):

test/test_bullet_world.py

@@ -1,31 +1,9 @@
-import unittest
-
-import numpy as np
-from pycram.bullet_world import BulletWorld, Object, fix_missing_inertial
+from bullet_world_testcase import BulletWorldTestCase
 from pycram.pose import Pose
-from pycram.robot_descriptions import robot_description
-from pycram.process_module import ProcessModule
-from pycram.enums import ObjectType
-import os
-import xml.etree.ElementTree as ET
-import tf
-
-
-class BulletWorldTest(unittest.TestCase):
-
-    world: BulletWorld
+import numpy as np
 
-    @classmethod
-    def setUpClass(cls):
-        cls.world = BulletWorld("DIRECT")
-        cls.robot = Object(robot_description.name, ObjectType.ROBOT, robot_description.name + ".urdf")
-        cls.kitchen = Object("kitchen", ObjectType.ENVIRONMENT, "kitchen.urdf")
-        cls.milk = Object("milk", ObjectType.MILK, "milk.stl", pose=Pose([1.3, 1, 0.9]))
-        cls.cereal = Object("cereal", ObjectType.BREAKFAST_CEREAL, "breakfast_cereal.stl", pose=Pose([1.3, 0.7, 0.95]))
-        ProcessModule.execution_delay = False
 
-    def setUp(self):
-        self.world.reset_bullet_world()
+class BulletWorldTest(BulletWorldTestCase):
 
     def test_object_movement(self):
         self.milk.set_position(Pose([0, 1, 1]))
@@ -36,23 +14,4 @@ def test_robot_orientation(self):
         head_position = self.robot.get_link_position('head_pan_link').z
         #self.robot.set_orientation(list(2*tf.transformations.quaternion_from_euler(0, 0, np.pi, axes="sxyz")))
         self.robot.set_orientation(Pose(orientation=[0, 0, 1, 1]))
-        self.assertEqual(self.robot.get_link_position('head_pan_link').z, head_position)
-
-    def tearDown(self):
-        self.world.reset_bullet_world()
-
-    @classmethod
-    def tearDownClass(cls):
-        cls.world.exit()
-
-
-class XMLTester(unittest.TestCase):
-
-    def setUp(self) -> None:
-        self.urdf_string = open(os.path.join("..", "resources", "pr2.urdf"), "r").read()
-
-    def test_inertial(self):
-        result = fix_missing_inertial(self.urdf_string)
-        resulting_tree = ET.ElementTree(ET.fromstring(result))
-        for element in resulting_tree.iter("link"):
-            self.assertTrue(len([*element.iter("inertial")]) > 0)
+        self.assertEqual(self.robot.get_link_position('head_pan_link').z, head_position)

test/test_bullet_world_reasoning.py

@@ -1,12 +1,12 @@
 import time
 
-from test_bullet_world import BulletWorldTest
+from bullet_world_testcase import BulletWorldTestCase
 import pycram.bullet_world_reasoning as btr
 from pycram.pose import Pose
 from pycram.robot_descriptions import robot_description
 
 
-class TestBulletWorldReasoning(BulletWorldTest):
+class TestCaseBulletWorldReasoning(BulletWorldTestCase):
 
     def test_contact(self):
         self.milk.set_pose(Pose([1, 1, 1]))

test/test_costmaps.py

@@ -1,10 +1,10 @@
-from test_bullet_world import BulletWorldTest
+from bullet_world_testcase import BulletWorldTestCase
 from pycram.costmaps import OccupancyCostmap
 from pycram.pose import Pose
 import numpy as np
 
 
-class TestCostmaps(BulletWorldTest):
+class TestCostmapsCase(BulletWorldTestCase):
 
     def test_raytest_bug(self):
         for i in range(30):

test/test_location_designator.py

@@ -5,10 +5,10 @@
 from pycram.process_module import simulated_robot
 from pycram.pose import Pose
 import pycram.enums
-import test_bullet_world
+from bullet_world_testcase import BulletWorldTestCase
 
 
-class TestActionDesignatorGrounding(test_bullet_world.BulletWorldTest):
+class TestActionDesignatorGrounding(BulletWorldTestCase):
 
     def test_reachability(self):
         self.robot.set_joint_state(robot_description.torso_joint, 0.3)

test/test_object_designator.py

@@ -1,10 +1,10 @@
 import unittest
-import test_bullet_world
+from bullet_world_testcase import BulletWorldTestCase
 from pycram.designators.object_designator import *
 from pycram.enums import ObjectType
 
 
-class TestObjectDesignator(test_bullet_world.BulletWorldTest):
+class TestObjectDesignator(BulletWorldTestCase):
 
     def test_object_grounding(self):
         description = ObjectDesignatorDescription(["milk"], [ObjectType.MILK])

test/test_orm.py

@@ -11,7 +11,7 @@
 import pycram.orm.task
 import pycram.task
 import pycram.task
-import test_bullet_world
+from bullet_world_testcase import BulletWorldTestCase
 import test_task_tree
 from pycram.designators import action_designator, object_designator
 from pycram.pose import Pose
@@ -148,7 +148,7 @@ def test_meta_data_alternation(self):
         self.assertEqual(metadata_result.description, "Test")
 
 
-class ORMObjectDesignatorTestCase(test_bullet_world.BulletWorldTest):
+class ORMObjectDesignatorTestCase(BulletWorldTestCase):
     """Test ORM functionality with a plan including object designators. """
 
     engine: sqlalchemy.engine.Engine
@@ -251,7 +251,7 @@ def test_task_tree_node_parents(self):
         self.assertTrue([r[i].parent == r[r[i].parent_id - 1] for i in range(len(r)) if r[i].parent_id is not None])
 
 
-class MotionDesigTest(test_bullet_world.BulletWorldTest):
+class MotionDesigTest(BulletWorldTestCase):
     engine: sqlalchemy.engine.Engine
     session: sqlalchemy.orm.Session
 

test/test_task_tree.py

@@ -4,12 +4,12 @@
 from pycram.task import with_tree
 import unittest
 import anytree
-import test_bullet_world
+from  bullet_world_testcase import BulletWorldTestCase
 import pycram.plan_failures
 from pycram.designators import object_designator, action_designator
 
 
-class TaskTreeTestCase(test_bullet_world.BulletWorldTest):
+class TaskTreeTestCase(BulletWorldTestCase):
 
     @with_tree
     def plan(self):