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Fixed docker. Fixed github actions for catkin_lint, pytest, autodoc. …
…Fixed bugs with unit tests for control. updated pytorch, torchvision, ultralytics. cleaned up requirments.txt.
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| Original file line number | Diff line number | Diff line change |
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| @@ -1,5 +1,3 @@ | ||
| version: "3.3" | ||
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| # Instructions | ||
| # https://github.com/utra-robosoccer/soccerbot/wiki/Docker | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,64 +1,62 @@ | ||
| import unittest | ||
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| import numpy as np | ||
| from matplotlib import pyplot as plt | ||
| from soccer_pycontrol.model.inverse_kinematics.ik_actions import IKActions | ||
| from soccer_pycontrol.model.inverse_kinematics.kinematic_data import KinematicData | ||
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| PLOT = True | ||
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| class TestIK(unittest.TestCase): | ||
| # TODO switch to placo for IK | ||
| def test_x_sweep(self): | ||
| """ | ||
| Case 1: Standard case | ||
| :return: None | ||
| """ | ||
| kinematic_data = KinematicData(robot_model="sigmaban") | ||
| ik_actions = IKActions(kinematic_data) | ||
| thetas, x, z = ik_actions.x_sweep() | ||
| # np.save('ik_data''/x_sweep', thetas) | ||
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| assert np.allclose(thetas, np.load("ik_data" "/x_sweep.npy")) | ||
| if PLOT: | ||
| plt.scatter(x, z) | ||
| plt.show() | ||
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| def test_y_sweep(self): | ||
| """ | ||
| Case 1: Standard case | ||
| :return: None | ||
| """ | ||
| kinematic_data = KinematicData() | ||
| ik_actions = IKActions(kinematic_data) | ||
| thetas, y, z = ik_actions.y_sweep() | ||
| # np.save('ik_data''/y_sweep', thetas) | ||
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| assert np.allclose(thetas, np.load("ik_data" "/y_sweep.npy")) | ||
| if PLOT: | ||
| plt.scatter(y, z) | ||
| plt.show() | ||
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| def test_z_sweep(self): | ||
| """ | ||
| Case 1: Standard case | ||
| :return: None | ||
| """ | ||
| kinematic_data = KinematicData() | ||
| ik_actions = IKActions(kinematic_data) | ||
| thetas, y, z = ik_actions.z_sweep() | ||
| # np.save('ik_data''/z_sweep', thetas) | ||
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| assert np.allclose(thetas, np.load("ik_data" "/z_sweep.npy")) | ||
| if PLOT: | ||
| plt.scatter(y, z) | ||
| plt.show() | ||
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| def test_ready(self): | ||
| kinematic_data = KinematicData() | ||
| ik_actions = IKActions(kinematic_data) | ||
| configuration = ik_actions.ready() | ||
| # np.save('ik_data''/ready', configuration) | ||
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| assert np.allclose(configuration, np.load("ik_data" "/ready.npy")) | ||
| # import unittest | ||
| # | ||
| # import numpy as np | ||
| # from matplotlib import pyplot as plt | ||
| # from soccer_pycontrol.model.inverse_kinematics.ik_actions import IKActions | ||
| # | ||
| # PLOT = True | ||
| # | ||
| # | ||
| # class TestIK(unittest.TestCase): | ||
| # # TODO switch to placo for IK | ||
| # def test_x_sweep(self): | ||
| # """ | ||
| # Case 1: Standard case | ||
| # :return: None | ||
| # """ | ||
| # ik_actions = IKActions(kinematic_data) | ||
| # thetas, x, z = ik_actions.x_sweep() | ||
| # # np.save('ik_data''/x_sweep', thetas) | ||
| # | ||
| # assert np.allclose(thetas, np.load("ik_data" "/x_sweep.npy")) | ||
| # if PLOT: | ||
| # plt.scatter(x, z) | ||
| # plt.show() | ||
| # | ||
| # def test_y_sweep(self): | ||
| # """ | ||
| # Case 1: Standard case | ||
| # :return: None | ||
| # """ | ||
| # kinematic_data = KinematicData() | ||
| # ik_actions = IKActions(kinematic_data) | ||
| # thetas, y, z = ik_actions.y_sweep() | ||
| # # np.save('ik_data''/y_sweep', thetas) | ||
| # | ||
| # assert np.allclose(thetas, np.load("ik_data" "/y_sweep.npy")) | ||
| # if PLOT: | ||
| # plt.scatter(y, z) | ||
| # plt.show() | ||
| # | ||
| # def test_z_sweep(self): | ||
| # """ | ||
| # Case 1: Standard case | ||
| # :return: None | ||
| # """ | ||
| # kinematic_data = KinematicData() | ||
| # ik_actions = IKActions(kinematic_data) | ||
| # thetas, y, z = ik_actions.z_sweep() | ||
| # # np.save('ik_data''/z_sweep', thetas) | ||
| # | ||
| # assert np.allclose(thetas, np.load("ik_data" "/z_sweep.npy")) | ||
| # if PLOT: | ||
| # plt.scatter(y, z) | ||
| # plt.show() | ||
| # | ||
| # def test_ready(self): | ||
| # kinematic_data = KinematicData() | ||
| # ik_actions = IKActions(kinematic_data) | ||
| # configuration = ik_actions.ready() | ||
| # # np.save('ik_data''/ready', configuration) | ||
| # | ||
| # assert np.allclose(configuration, np.load("ik_data" "/ready.npy")) |
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