| """Tests for buffer allocation (strategy-layer temporary parking).
|
|
|
| Uses a headless sim so footprint/reachability queries hit real PyBullet, but
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| objects are teleported into controlled layouts.
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| """
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|
|
| import math
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| import os
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| import sys
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|
|
| import pybullet as pb
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| import pytest
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|
|
| sys.path.insert(0, os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
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|
|
| from llm_panda import config
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|
|
|
|
| @pytest.fixture
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| def sim():
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| from main import PandaSimulation
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| simulation = PandaSimulation(gui=False, seed=3)
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| yield simulation
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| simulation.disconnect()
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|
|
|
|
| def _isolate(sim, keep):
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| """Park every object except those named in `keep` far off the table."""
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| for oid in sim.scene.object_ids:
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| if sim.scene.get_name(oid) not in keep:
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| pb.resetBasePositionAndOrientation(oid, [0.5, 0.62, 0.34], [0, 0, 0, 1])
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|
|
|
|
|
|
|
|
|
|
| def test_buffer_spot_is_clear_of_avoided_object(sim):
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| _isolate(sim, {"banana"})
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| ban = sim.scene.name_to_id("banana")
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| ban_pos = [0.50, 0.0, 0.33]
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| pb.resetBasePositionAndOrientation(ban, ban_pos, [0, 0, 0, 1])
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| for _ in range(30):
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| pb.stepSimulation()
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| spot = sim.scene.find_buffer_spot(
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| (0.08, 0.08), exclude_ids=[], avoid_positions=[ban_pos],
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| )
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| assert spot is not None
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| d = math.dist(spot[:2], ban_pos[:2])
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| assert d >= config.BUFFER_MIN_CLEARANCE - 1e-6
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|
|
| assert abs(spot[2] - config.TABLE_TOP_Z) < 1e-6
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|
|
