From 1dc81627bcf9bd8c39b0d3fd6879cc1ee0c152df Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tahsincan=20K=C3=B6se?= <tahsinkose@yandex.com>
Date: Wed, 10 Jul 2024 12:32:12 +0300
Subject: [PATCH] Add unit-test for get_link_transform API.

---
 tests/curobo_robot_world_model_test.py | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/tests/curobo_robot_world_model_test.py b/tests/curobo_robot_world_model_test.py
index 0778308..4991e7d 100644
--- a/tests/curobo_robot_world_model_test.py
+++ b/tests/curobo_robot_world_model_test.py
@@ -134,3 +134,9 @@ def test_cu_robot_batch_world_collision():
     )
     assert d_world.shape[0] == b
     assert torch.sum(d_world) == 0.0
+
+def test_cu_robot_get_link_transform():
+    model = load_robot_world()
+    world_T_panda_hand = model.kinematics.get_link_transform("panda_hand")
+    # It seems the panda hand is initialized at the origin.
+    assert torch.sum(world_T_panda_hand.position) == 0.0
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