Isaac Sim 4.0 support, Kinematics API doc, Windows support

tests/xrdf_test.py

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+#
+# Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
+# property and proprietary rights in and to this material, related
+# documentation and any modifications thereto. Any use, reproduction,
+# disclosure or distribution of this material and related documentation
+# without an express license agreement from NVIDIA CORPORATION or
+# its affiliates is strictly prohibited.
+#
+# CuRobo
+from curobo.cuda_robot_model.cuda_robot_model import CudaRobotModel, CudaRobotModelConfig
+from curobo.cuda_robot_model.util import load_robot_yaml
+from curobo.types.file_path import ContentPath
+
+
+def test_xrdf_kinematics():
+    robot_file = "ur10e.xrdf"
+    urdf_file = "robot/ur_description/ur10e.urdf"
+    content_path = ContentPath(robot_xrdf_file=robot_file, robot_urdf_file=urdf_file)
+    robot_data = load_robot_yaml(content_path)
+    robot_data["robot_cfg"]["kinematics"]["ee_link"] = "wrist_3_link"
+
+    cfg = CudaRobotModelConfig.from_data_dict(robot_data["robot_cfg"]["kinematics"])
+
+    robot = CudaRobotModel(cfg)
+    q_test = robot.tensor_args.to_device([0.0, 0.0, 0.0, 0.0, 0.0, 0.0]).view(1, -1)
+
+    kin_pose = robot.get_state(q_test)
+    expected_position = robot.tensor_args.to_device([1.1842, 0.2907, 0.0609]).view(1, -1)
+
+    error = kin_pose.ee_pose.position - expected_position
+    assert error.norm() < 0.01