Fix tests

Author: Gamenot

smarts/bullet/bullet_simulation.py

@@ -21,7 +21,7 @@
 # THE SOFTWARE.
 import importlib.resources as pkg_resources
 import os
-from typing import Any
+from typing import Any, Optional
 
 from smarts.bullet import pybullet
 from smarts.bullet.pybullet import bullet_client as bc
@@ -124,7 +124,10 @@ def initialize_ground(self, resource_path, map_bb):
         )
 
     def step(
-        self, dt: float, simulation_frame: SimulationFrame, vehicle_index: VehicleIndex
+        self,
+        dt: float,
+        simulation_frame: Optional[SimulationFrame],
+        vehicle_index: VehicleIndex,
     ):
         self._bullet_client.stepSimulation()
         pybullet_substeps = max(1, round(dt / self._pybullet_period)) - 1

smarts/core/physics/physics_simulation.py

@@ -19,7 +19,7 @@
 # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.
-from typing import Any
+from typing import Any, Optional
 
 from smarts.core.coordinates import BoundingBox
 from smarts.core.simulation_frame import SimulationFrame
@@ -56,7 +56,10 @@ def teardown(self):
         raise NotImplementedError
 
     def step(
-        self, dt: float, simulation_frame: SimulationFrame, vehicle_index: VehicleIndex
+        self,
+        dt: float,
+        simulation_frame: Optional[SimulationFrame],
+        vehicle_index: VehicleIndex,
     ):
         """Step the current physics simulation.
 

smarts/core/tests/test_collision.py

@@ -37,6 +37,7 @@
 from smarts.core.smarts import SMARTS
 from smarts.core.sumo_traffic_simulation import SumoTrafficSimulation
 from smarts.core.vehicle import VEHICLE_CONFIGS
+from smarts.core.vehicle_index import VehicleIndex
 from smarts.sstudio import gen_scenario
 from smarts.sstudio import types as t
 
@@ -63,7 +64,7 @@ def step_with_vehicle_commands(
     collisions = []
     for _ in range(steps):
         bv.control(throttle, brake, steering)
-        bullet_simulation.step()
+        bullet_simulation.step(time_step, None, vehicle_index=VehicleIndex.identity())
         collisions.extend(bv.contact_points)
     return collisions
 
@@ -80,7 +81,7 @@ def step_with_pose_delta(
         cur_pose = bv.pose
         new_pose = Pose.from_center(cur_pose.position + pose_delta, cur_pose.heading)
         bv.control(new_pose, speed)
-        bullet_simulation.step()
+        bullet_simulation.step(time_step, None, VehicleIndex.identity())
         collisions.extend(bv.contact_points)
     return collisions
 
@@ -99,7 +100,7 @@ def test_collision(bullet_simulation: BulletSimulation):
         bullet_client=bullet_simulation.client,
     )
 
-    collisions = step_with_vehicle_commands(chassis, steps=2)
+    collisions = step_with_vehicle_commands(chassis, bullet_simulation, steps=2)
     assert len(collisions) > 0
     collided_bullet_ids = set([c.bullet_id for c in collisions])
     GROUND_ID = 0
@@ -199,7 +200,7 @@ def _joust(
     for _ in range(steps):
         wkc.control(throttle)
         bkc.control(throttle)
-        bullet_simulation.step()
+        bullet_simulation.step(time_step, None, VehicleIndex.identity())
         collisions[0].extend(wkc.contact_points)
         collisions[1].extend(bkc.contact_points)
     return collisions

smarts/core/tests/test_trajectory_controller.py

@@ -162,7 +162,5 @@ def step_with_vehicle_commands(
 def test_trajectory_tracking(
     bullet_simulation: BulletSimulation, vehicle, radius, omega
 ):
-    final_error = step_with_vehicle_commands(
-        bullet_simulation.client, vehicle, radius, omega
-    )
+    final_error = step_with_vehicle_commands(bullet_simulation, vehicle, radius, omega)
     assert final_error <= 10