cleanup tests

Author: voshch

arena_robots

@@ -264,12 +264,6 @@ def test_pose_parse_invalid():
         Pose.parse("bad")
 
 
-def test_pose_defaults():
-    p = Pose()
-    assert (p.position.x, p.position.y, p.position.z) == pytest.approx((0, 0, 0))
-    assert p.orientation.w == pytest.approx(1.0)
-
-
 def test_pose_to_2d():
     p = Pose.parse([3.0, 4.0, 0.5])
     x, y, yaw = p.to_2d()
@@ -305,11 +299,6 @@ def test_positionradius_iter():
 # ---------------------------------------------------------------------------
 
 
-def test_scale_defaults():
-    s = Scale()
-    assert (s.x, s.y, s.z) == pytest.approx((1.0, 1.0, 1.0))
-
-
 def test_scale_parse_3d():
     s = Scale.parse([2.0, 3.0, 4.0])
     assert (s.x, s.y, s.z) == pytest.approx((2.0, 3.0, 4.0))

arena_simulation_setup/tests/unit/test_geometry.py

@@ -1,8 +1,5 @@
 from __future__ import annotations
 
-import warnings
-
-import attrs
 import pytest
 
 from arena_simulation_setup.shared.entities import (
@@ -13,8 +10,7 @@
     Obstacle,
 )
 from arena_simulation_setup.tree.assets.Object import ObjectIdentifier
-from arena_simulation_setup.utils.geometry import Pose, Position, Scale
-from arena_simulation_setup.utils.models import ModelWrapper
+from arena_simulation_setup.utils.geometry import Pose, Scale
 
 
 def _model_id():
@@ -121,11 +117,6 @@ def test_entity_asdict_expand_extra_false():
 # ---------------------------------------------------------------------------
 
 
-def test_obstacle_scale_none_by_default():
-    obs = _make_obstacle()
-    assert obs.scale is None
-
-
 def test_obstacle_scale_set():
     obs = _make_obstacle()
     obs.scale = Scale(2.0, 2.0, 2.0)
@@ -195,7 +186,6 @@ def test_custom_dynamic_obstacle_getattr_miss():
 
 
 def test_custom_dynamic_obstacle_parse_emits_future_warning():
-    from arena_simulation_setup.tree.assets.Pedestrian import PedestrianIdentifier
     data = {
         "name": "cdo",
         "pose": [0.0, 0.0],

arena_simulation_setup/tests/unit/test_shared_entities.py

@@ -13,23 +13,6 @@ def _elev_pos() -> Position:
     return Position(0.0, 0.0, 0.0)
 
 
-def test_elevator_default_size():
-    e = Elevator(name="elev", position=_elev_pos())
-    assert e.size == pytest.approx([2.0, 2.0, 2.5])
-
-
-def test_elevator_default_door_side():
-    e = Elevator(name="elev", position=_elev_pos())
-    assert e.door_side == '+x'
-
-
-def test_elevator_default_timings():
-    e = Elevator(name="elev", position=_elev_pos())
-    assert e.transition_time == pytest.approx(1.0)
-    assert e.hold_time == pytest.approx(2.0)
-    assert e.travel_time == pytest.approx(3.0)
-
-
 def test_elevator_material_converter():
     from arena_simulation_setup.tree.assets.Material import MaterialIdentifier
     e = Elevator(name="elev", position=_elev_pos())
@@ -126,29 +109,11 @@ def test_door_activation_distance_tuple():
     assert d.activation_distance == (1.5, 0.0)
 
 
-def test_door_default_kind_and_timings():
-    d = Door(
-        name="door",
-        start=Position(0.0, 0.0, 0.0),
-        end=Position(1.0, 0.0, 0.0),
-    )
-    assert d.kind == 'sliding'
-    assert d.transition_time == pytest.approx(1.0)
-    assert d.hold_time == pytest.approx(2.0)
-    assert d.activation_distance == (3.0, 3.0)
-
-
 # ---------------------------------------------------------------------------
 # Floor
 # ---------------------------------------------------------------------------
 
 
-def test_floor_default_lengths():
-    f = Floor(name="floor", pos=Position(0.0, 0.0, 0.0))
-    assert f.x_length == pytest.approx(20.0)
-    assert f.y_length == pytest.approx(20.0)
-
-
 def test_floor_position_converter():
     f = Floor(name="floor", pos=Position(5.0, 6.0, 0.0))
     assert f.pos.x == pytest.approx(5.0)

arena_simulation_setup/tests/unit/test_shared_world.py

@@ -1,6 +1,5 @@
 from __future__ import annotations
 
-import os
 import warnings
 
 import pytest
@@ -50,13 +49,6 @@ def test_robot_goal_parse_empty_parse_fallback():
 # ---------------------------------------------------------------------------
 
 
-def test_scenario_empty_construction():
-    s = Scenario()
-    assert s.static == []
-    assert s.dynamic == []
-    assert s.robots == []
-
-
 def test_scenario_with_robots():
     rg = RobotGoal.parse({"start": [0.0, 0.0], "goal": [1.0, 1.0]})
     s = Scenario(robots=[rg])

arena_simulation_setup/tests/unit/test_tree_scenario.py

@@ -41,14 +41,6 @@ def test_barn_registered():
 # ---------------------------------------------------------------------------
 
 
-def test_base_configuration_defaults():
-    cfg = BaseConfiguration()
-    assert cfg.width == pytest.approx(15.0)
-    assert cfg.height == pytest.approx(15.0)
-    assert cfg.resolution == pytest.approx(0.05)
-    assert cfg.wall_gap == pytest.approx(0.05)
-
-
 def test_base_configuration_custom_values():
     cfg = BaseConfiguration(width=20.0, height=30.0)
     assert cfg.width == pytest.approx(20.0)
@@ -91,13 +83,6 @@ def test_world_generator_empty_compute_has_walls():
 # ---------------------------------------------------------------------------
 
 
-def test_hallway_config_defaults():
-    cfg = WorldGeneratorHallway.Configuration()
-    assert cfg.width == pytest.approx(80.0)
-    assert cfg.height == pytest.approx(50.0)
-    assert cfg.hallway_height == pytest.approx(5.0)
-
-
 def test_hallway_config_hallway_top():
     cfg = WorldGeneratorHallway.Configuration()
     assert cfg.hallway_top == pytest.approx(cfg.height / 2 + cfg.hallway_height / 2)
@@ -225,12 +210,8 @@ def test_to_walls_multilinestring():
 # ---------------------------------------------------------------------------
 
 
-def test_barn_config_defaults():
+def test_barn_config_pitch_derived():
     cfg = WorldGeneratorBarn.Configuration()
-    assert cfg.width == pytest.approx(10.0)
-    assert cfg.height == pytest.approx(10.0)
-    assert cfg.box_size == pytest.approx(0.4)
-    assert cfg.passage_width == pytest.approx(1.0)
     # one box row separates parallel lane strands
     assert cfg.pitch == pytest.approx(cfg.passage_width + cfg.box_size + cfg.box_gap)
 

arena_simulation_setup/tests/unit/test_utils_generative.py

@@ -123,16 +123,3 @@ def test_displays_list_coerces_to_tuple(self):
         )
         assert isinstance(meta.displays, tuple)
         assert meta.displays == (hint,)
-
-    def test_displays_default_is_empty_tuple(self):
-        from arena_robots.bringup.mobile.nav2 import Nav2Bringup
-        from arena_robots.clients.goto_pose import GotoPoseClient
-        from arena_robots.task_kinds import TaskKind
-        from task_generator.tasks.robots.adapters import AdapterMeta
-        meta = AdapterMeta(
-            accepts={TaskKind.GOTO_POSE},
-            bringup=Nav2Bringup,
-            cap="mobile",
-            client=GotoPoseClient,
-        )
-        assert meta.displays == ()

task_generator/tests/ros/test_adapters_registry.py

@@ -21,6 +21,7 @@ def _make_robot_manager_stub(pose, goal_tolerance_distance=0.3, goal_tolerance_a
     )
     return SimpleNamespace(
         pose=pose,
+        controls_orientation=True,
         node=SimpleNamespace(conf=SimpleNamespace(Robot=robot_conf)),
     )
 

task_generator/tests/ros/test_goto_phase.py

@@ -28,6 +28,7 @@ def _stub(pose, tol_dist, tol_ang):
     )
     return SimpleNamespace(
         pose=pose,
+        controls_orientation=True,
         node=SimpleNamespace(conf=SimpleNamespace(Robot=robot_conf)),
     )
 

task_generator/tests/ros/test_goto_phase_property.py

@@ -23,13 +23,6 @@ def test_obstacle_layer_integer_values():
     assert ObstacleLayer.WORLD == 2
 
 
-def test_known_obstacle_defaults():
-    from task_generator.simulators.human.utils import KnownObstacle, ObstacleLayer
-    ko = KnownObstacle(obstacle="payload")
-    assert ko.spawned is False
-    assert ko.layer is ObstacleLayer.UNUSED
-
-
 def test_create_or_get_creates_on_first_call():
     from task_generator.simulators.human.utils import KnownObstacles
     known = KnownObstacles()