How to use _extract_name method in autotest

Best Python code snippet using autotest_python

collision.py

Source:collision.py

...273            for contact in cdata.result.contacts:274                cg = contact.o1275                if cg == geom:276                    cg = contact.o2277                name = self._extract_name(cg)278                names = (name, '__external')279                if cg == contact.o2:280                    names = tuple(reversed(names))281                if return_names:282                    objs_in_collision.add(name)283                if return_data:284                    contact_data.append(ContactData(names, contact))285        if return_names and return_data:286            return result, objs_in_collision, contact_data287        elif return_names:288            return result, objs_in_collision289        elif return_data:290            return result, contact_data291        else:292            return result293    def in_collision_internal(self, return_names=False, return_data=False):294        """295        Check if any pair of objects in the manager collide with one another.296        Parameters297        ----------298        return_names : bool299          If true, a set is returned containing the names300          of all pairs of objects in collision.301        return_data :  bool302          If true, a list of ContactData is returned as well303        Returns304        -------305        is_collision : bool306          True if a collision occurred between any pair of objects307          and False otherwise308        names : set of 2-tup309          The set of pairwise collisions. Each tuple310          contains two names in alphabetical order indicating311          that the two corresponding objects are in collision.312        contacts : list of ContactData313          All contacts detected314        """315        cdata = fcl.CollisionData()316        if return_names or return_data:317            cdata = fcl.CollisionData(request=fcl.CollisionRequest(318                num_max_contacts=100000, enable_contact=True))319        self._manager.collide(cdata, fcl.defaultCollisionCallback)320        result = cdata.result.is_collision321        objs_in_collision = set()322        contact_data = []323        if return_names or return_data:324            for contact in cdata.result.contacts:325                names = (self._extract_name(contact.o1),326                         self._extract_name(contact.o2))327                if return_names:328                    objs_in_collision.add(tuple(sorted(names)))329                if return_data:330                    contact_data.append(ContactData(names, contact))331        if return_names and return_data:332            return result, objs_in_collision, contact_data333        elif return_names:334            return result, objs_in_collision335        elif return_data:336            return result, contact_data337        else:338            return result339    def in_collision_other(self, other_manager,340                           return_names=False, return_data=False):341        """342        Check if any object from this manager collides with any object343        from another manager.344        Parameters345        -------------------346        other_manager : CollisionManager347          Another collision manager object348        return_names : bool349          If true, a set is returned containing the names350          of all pairs of objects in collision.351        return_data : bool352          If true, a list of ContactData is returned as well353        Returns354        -------------355        is_collision : bool356          True if a collision occurred between any pair of objects357          and False otherwise358        names : set of 2-tup359          The set of pairwise collisions. Each tuple360          contains two names (first from this manager,361          second from the other_manager) indicating362          that the two corresponding objects are in collision.363        contacts : list of ContactData364          All contacts detected365        """366        cdata = fcl.CollisionData()367        if return_names or return_data:368            cdata = fcl.CollisionData(369                request=fcl.CollisionRequest(370                    num_max_contacts=100000,371                    enable_contact=True))372        self._manager.collide(other_manager._manager,373                              cdata,374                              fcl.defaultCollisionCallback)375        result = cdata.result.is_collision376        objs_in_collision = set()377        contact_data = []378        if return_names or return_data:379            for contact in cdata.result.contacts:380                reverse = False381                names = (self._extract_name(contact.o1),382                         other_manager._extract_name(contact.o2))383                if names[0] is None:384                    names = (self._extract_name(contact.o2),385                             other_manager._extract_name(contact.o1))386                    reverse = True387                if return_names:388                    objs_in_collision.add(names)389                if return_data:390                    if reverse:391                        names = tuple(reversed(names))392                    contact_data.append(ContactData(names, contact))393        if return_names and return_data:394            return result, objs_in_collision, contact_data395        elif return_names:396            return result, objs_in_collision397        elif return_data:398            return result, contact_data399        else:400            return result401    def min_distance_single(self,402                            mesh,403                            transform=None,404                            return_name=False,405                            return_data=False):406        """407        Get the minimum distance between a single object and any408        object in the manager.409        Parameters410        ---------------411        mesh : Trimesh object412          The geometry of the collision object413        transform : (4,4) float414          Homogeneous transform matrix for the object415        return_names : bool416          If true, return name of the closest object417        return_data : bool418          If true, a DistanceData object is returned as well419        Returns420        -------------421        distance : float422          Min distance between mesh and any object in the manager423        name : str424          The name of the object in the manager that was closest425        data : DistanceData426          Extra data about the distance query427        """428        if transform is None:429            transform = np.eye(4)430        # create BVH/Convex431        geom = self._get_fcl_obj(mesh)432        # create the FCL transform from (4,4) matrix433        t = fcl.Transform(transform[:3, :3], transform[:3, 3])434        o = fcl.CollisionObject(geom, t)435        # Collide with manager's objects436        ddata = fcl.DistanceData(fcl.DistanceRequest(enable_signed_distance=True))437        if return_data:438            ddata = fcl.DistanceData(439                fcl.DistanceRequest(440                    enable_nearest_points=True,441                    enable_signed_distance=True442                ),443                fcl.DistanceResult()444            )445        self._manager.distance(o, ddata, fcl.defaultDistanceCallback)446        distance = ddata.result.min_distance447        # If we want to return the objects that were collision, collect them.448        name, data = None, None449        if return_name or return_data:450            cg = ddata.result.o1451            if cg == geom:452                cg = ddata.result.o2453            name = self._extract_name(cg)454            names = (name, '__external')455            if cg == ddata.result.o2:456                names = tuple(reversed(names))457            data = DistanceData(names, ddata.result)458        if return_name and return_data:459            return distance, name, data460        elif return_name:461            return distance, name462        elif return_data:463            return distance, data464        else:465            return distance466    def min_distance_internal(self, return_names=False, return_data=False):467        """468        Get the minimum distance between any pair of objects in the manager.469        Parameters470        -------------471        return_names : bool472          If true, a 2-tuple is returned containing the names473          of the closest objects.474        return_data : bool475          If true, a DistanceData object is returned as well476        Returns477        -----------478        distance : float479          Min distance between any two managed objects480        names : (2,) str481          The names of the closest objects482        data : DistanceData483          Extra data about the distance query484        """485        ddata = fcl.DistanceData(fcl.DistanceRequest(enable_signed_distance=True))486        if return_data:487            ddata = fcl.DistanceData(488                fcl.DistanceRequest(489                    enable_nearest_points=True,490                    enable_signed_distance=True,491                ),492                fcl.DistanceResult()493            )494        self._manager.distance(ddata, fcl.defaultDistanceCallback)495        distance = ddata.result.min_distance496        names, data = None, None497        if return_names or return_data:498            names = (self._extract_name(ddata.result.o1),499                     self._extract_name(ddata.result.o2))500            data = DistanceData(names, ddata.result)501            names = tuple(sorted(names))502        if return_names and return_data:503            return distance, names, data504        elif return_names:505            return distance, names506        elif return_data:507            return distance, data508        else:509            return distance510    def min_distance_other(self, other_manager,511                           return_names=False, return_data=False):512        """513        Get the minimum distance between any pair of objects,514        one in each manager.515        Parameters516        ----------517        other_manager : CollisionManager518          Another collision manager object519        return_names : bool520          If true, a 2-tuple is returned containing521          the names of the closest objects.522        return_data : bool523          If true, a DistanceData object is returned as well524        Returns525        -----------526        distance : float527          The min distance between a pair of objects,528          one from each manager.529        names : 2-tup of str530          A 2-tuple containing two names (first from this manager,531          second from the other_manager) indicating532          the two closest objects.533        data : DistanceData534          Extra data about the distance query535        """536        ddata = fcl.DistanceData(fcl.DistanceRequest(enable_signed_distance=True))537        if return_data:538            ddata = fcl.DistanceData(539                fcl.DistanceRequest(540                    enable_nearest_points=True,541                    enable_signed_distance=True,542                ),543                fcl.DistanceResult()544            )545        self._manager.distance(other_manager._manager,546                               ddata,547                               fcl.defaultDistanceCallback)548        distance = ddata.result.min_distance549        names, data = None, None550        if return_names or return_data:551            reverse = False552            names = (self._extract_name(ddata.result.o1),553                     other_manager._extract_name(ddata.result.o2))554            if names[0] is None:555                reverse = True556                names = (self._extract_name(ddata.result.o2),557                         other_manager._extract_name(ddata.result.o1))558            dnames = tuple(names)559            if reverse:560                dnames = tuple(reversed(dnames))561            data = DistanceData(dnames, ddata.result)562        if return_names and return_data:563            return distance, names, data564        elif return_names:565            return distance, names566        elif return_data:567            return distance, data568        else:569            return distance570    def _get_fcl_obj(self, mesh):571        """572        Get a BVH or Convex for a mesh.573        Parameters574        -------------575        mesh : Trimesh576          Mesh to create BVH/Convex for577        Returns578        --------------579        obj : fcl.BVHModel or fcl.Convex580          BVH/Convex object of source mesh581        """582        if mesh.is_convex:583            obj = mesh_to_convex(mesh)584        else:585            obj = mesh_to_BVH(mesh)586        return obj587    def _extract_name(self, geom):588        """589        Retrieve the name of an object from the manager by its590        CollisionObject, or return None if not found.591        Parameters592        -----------593        geom : CollisionObject or BVHModel594          Input model595        Returns596        ------------597        names : hashable598          Name of input geometry599        """600        return self._names[id(geom)]601def mesh_to_BVH(mesh):...

utils.py

Source:utils.py

...4import typing5logger = logging.getLogger(__name__)6PathLike = typing.Union[str, pathlib.Path]7class DefaultSpringCloudConfigParser:8    def _extract_name(self, name: str) -> str:9        basename = os.path.basename(name)10        return os.path.splitext(basename)[0]11    def __call__(self, raw_data: dict, *args, **kwargs) -> dict:12        expected = raw_data['name']13        for source in raw_data['propertySources']:14            if source['name'].endswith('application.yaml'):15                config = source['source']16                break17        else:18            logger.warning('No application.yaml found in response; using empty config as base')19            config = {}20        names = []21        for source in raw_data['propertySources']:22            if source['name'].endswith('application.yaml'):23                continue24            else:25                name = self._extract_name(source['name'])26                names.append(name)27                config.update(source['source'])28        if expected not in names:29            raise ValueError("expected config with name '{}' was not found in response".format(expected))...

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