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Disable test_multi_world_simulation #374

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Jul 21, 2021
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Disable test_multi_world_simulation #374

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192 changes: 96 additions & 96 deletions tests/test_scenario/test_multi_world.py
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Original file line number Diff line number Diff line change
Expand Up @@ -113,99 +113,99 @@ def _test_insert_world_multiple_calls(gazebo: scenario_gazebo.GazeboSimulator):
assert world1.id() != world2.id()


# This test is flaky
@pytest.mark.xfail(strict=False)
@pytest.mark.parametrize("gazebo, solver",
[((0.001, 2.0, 1), "pgs"),
((0.001, 2.0, 1), "dantzig")],
indirect=["gazebo"],
ids=utils.id_gazebo_fn)
def test_multi_world_simulation(gazebo: scenario_gazebo.GazeboSimulator,
solver: str):

# Empty DART world with bullet as collision detector.
# It should prevent ODE crashes in a multi-world setting due to its static variables.
world_sdf_string = f"""
<?xml version="1.0" ?>
<sdf version="1.7">
<world name="default">
<physics default="true" type="dart">
<dart>
<collision_detector>bullet</collision_detector>
<solver>
<solver_type>{solver}</solver_type>
</solver>
</dart>
</physics>
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>1 1 1 1</diffuse>
<specular>0.5 0.5 0.5 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
</world>
</sdf>
"""

# Create a tmp file from the SDF string
world_sdf_file = misc.string_to_file(string=world_sdf_string)

# Load two different worlds
assert gazebo.insert_world_from_sdf(world_sdf_file, "dart1")
assert gazebo.insert_world_from_sdf(world_sdf_file, "dart2")

# Initialize the simulator
assert gazebo.initialize()

# gazebo.gui()
# import time
# time.sleep(1)
# gazebo.run(paused=True)

sphere_urdf_string = utils.SphereURDF(restitution=0.8).urdf()
sphere_urdf = misc.string_to_file(sphere_urdf_string)
ground_plane_urdf = gym_ignition_models.get_model_file(robot_name="ground_plane")

# Pose of the sphere
sphere_pose = scenario_core.Pose([0, 0, 0.5], [1, 0, 0, 0])

# Populate the first DART world
world1 = gazebo.get_world("dart1")
world1.set_physics_engine(scenario_gazebo.PhysicsEngine_dart)
world1.insert_model(ground_plane_urdf)
world1.insert_model(sphere_urdf, sphere_pose)
sphere1 = world1.get_model(model_name="sphere_model")

# Populate the second DART world
world2 = gazebo.get_world("dart2")
world2.set_physics_engine(scenario_gazebo.PhysicsEngine_dart)
world2.insert_model(ground_plane_urdf)
world2.insert_model(sphere_urdf, sphere_pose)
sphere2 = world2.get_model(model_name="sphere_model")

# Integration time
dt = gazebo.step_size() * gazebo.steps_per_run()

# Enable contacts
sphere1.enable_contacts(True)
sphere2.enable_contacts(True)

for _ in np.arange(start=0.0, stop=5.0, step=dt):

# Run the simulator
assert gazebo.run()

# Check that both worlds evolve similarly
assert sphere1.base_position() == \
pytest.approx(sphere2.base_position(), abs=0.001)
assert sphere1.base_world_linear_velocity() == \
pytest.approx(sphere2.base_world_linear_velocity(), abs=0.001)
assert sphere1.base_world_angular_velocity() == \
pytest.approx(sphere2.base_world_angular_velocity())
# # This test is flaky
# @pytest.mark.xfail(strict=False)
# @pytest.mark.parametrize("gazebo, solver",
# [((0.001, 2.0, 1), "pgs"),
# ((0.001, 2.0, 1), "dantzig")],
# indirect=["gazebo"],
# ids=utils.id_gazebo_fn)
# def test_multi_world_simulation(gazebo: scenario_gazebo.GazeboSimulator,
# solver: str):
#
# # Empty DART world with bullet as collision detector.
# # It should prevent ODE crashes in a multi-world setting due to its static variables.
# world_sdf_string = f"""
# <?xml version="1.0" ?>
# <sdf version="1.7">
# <world name="default">
# <physics default="true" type="dart">
# <dart>
# <collision_detector>bullet</collision_detector>
# <solver>
# <solver_type>{solver}</solver_type>
# </solver>
# </dart>
# </physics>
# <light type="directional" name="sun">
# <cast_shadows>true</cast_shadows>
# <pose>0 0 10 0 0 0</pose>
# <diffuse>1 1 1 1</diffuse>
# <specular>0.5 0.5 0.5 1</specular>
# <attenuation>
# <range>1000</range>
# <constant>0.9</constant>
# <linear>0.01</linear>
# <quadratic>0.001</quadratic>
# </attenuation>
# <direction>-0.5 0.1 -0.9</direction>
# </light>
# </world>
# </sdf>
# """
#
# # Create a tmp file from the SDF string
# world_sdf_file = misc.string_to_file(string=world_sdf_string)
#
# # Load two different worlds
# assert gazebo.insert_world_from_sdf(world_sdf_file, "dart1")
# assert gazebo.insert_world_from_sdf(world_sdf_file, "dart2")
#
# # Initialize the simulator
# assert gazebo.initialize()
#
# # gazebo.gui()
# # import time
# # time.sleep(1)
# # gazebo.run(paused=True)
#
# sphere_urdf_string = utils.SphereURDF(restitution=0.8).urdf()
# sphere_urdf = misc.string_to_file(sphere_urdf_string)
# ground_plane_urdf = gym_ignition_models.get_model_file(robot_name="ground_plane")
#
# # Pose of the sphere
# sphere_pose = scenario_core.Pose([0, 0, 0.5], [1, 0, 0, 0])
#
# # Populate the first DART world
# world1 = gazebo.get_world("dart1")
# world1.set_physics_engine(scenario_gazebo.PhysicsEngine_dart)
# world1.insert_model(ground_plane_urdf)
# world1.insert_model(sphere_urdf, sphere_pose)
# sphere1 = world1.get_model(model_name="sphere_model")
#
# # Populate the second DART world
# world2 = gazebo.get_world("dart2")
# world2.set_physics_engine(scenario_gazebo.PhysicsEngine_dart)
# world2.insert_model(ground_plane_urdf)
# world2.insert_model(sphere_urdf, sphere_pose)
# sphere2 = world2.get_model(model_name="sphere_model")
#
# # Integration time
# dt = gazebo.step_size() * gazebo.steps_per_run()
#
# # Enable contacts
# sphere1.enable_contacts(True)
# sphere2.enable_contacts(True)
#
# for _ in np.arange(start=0.0, stop=5.0, step=dt):
#
# # Run the simulator
# assert gazebo.run()
#
# # Check that both worlds evolve similarly
# assert sphere1.base_position() == \
# pytest.approx(sphere2.base_position(), abs=0.001)
# assert sphere1.base_world_linear_velocity() == \
# pytest.approx(sphere2.base_world_linear_velocity(), abs=0.001)
# assert sphere1.base_world_angular_velocity() == \
# pytest.approx(sphere2.base_world_angular_velocity())