From 1dd6f7875e40ac01ebbd54d3ab6c302f74452e08 Mon Sep 17 00:00:00 2001
From: Michel Breyer <michel.p.breyer@gmail.com>
Date: Tue, 9 Nov 2021 11:48:18 +0100
Subject: [PATCH] Add script to test the simulation

---
 scripts/reset.py       | 12 ------------
 test/test_sim_scene.py | 13 +++++++++++++
 2 files changed, 13 insertions(+), 12 deletions(-)
 delete mode 100644 scripts/reset.py
 create mode 100644 test/test_sim_scene.py

diff --git a/scripts/reset.py b/scripts/reset.py
deleted file mode 100644
index 7c17454..0000000
--- a/scripts/reset.py
+++ /dev/null
@@ -1,12 +0,0 @@
-import rospy
-
-from active_grasp.srv import *
-
-rospy.init_node("reset")
-
-seed = rospy.ServiceProxy("seed", Seed)
-reset = rospy.ServiceProxy("reset", Reset)
-
-seed(SeedRequest(1))
-reset(ResetRequest())
-rospy.sleep(1.0)
diff --git a/test/test_sim_scene.py b/test/test_sim_scene.py
new file mode 100644
index 0000000..cd4aea6
--- /dev/null
+++ b/test/test_sim_scene.py
@@ -0,0 +1,13 @@
+from active_grasp.simulation import Simulation
+
+
+def main():
+    gui = True
+    scene_id = "random"
+    vgn_path = "../vgn/assets/models/vgn_conv.pth"
+    sim = Simulation(gui, scene_id, vgn_path)
+    bbox = sim.reset()
+
+
+if __name__ == "__main__":
+    main()