56 lines
1.9 KiB
Python
56 lines
1.9 KiB
Python
#
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# Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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#
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# NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
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# property and proprietary rights in and to this material, related
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# documentation and any modifications thereto. Any use, reproduction,
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# disclosure or distribution of this material and related documentation
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# without an express license agreement from NVIDIA CORPORATION or
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# its affiliates is strictly prohibited.
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#
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# CuRobo
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from curobo.cuda_robot_model.cuda_robot_generator import (
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CudaRobotGenerator,
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CudaRobotGeneratorConfig,
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)
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from curobo.cuda_robot_model.cuda_robot_model import CudaRobotModelConfig
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from curobo.util_file import get_robot_configs_path, join_path, load_yaml
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def test_cuda_robot_generator_config():
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robot_file = "franka.yml"
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robot_params = load_yaml(join_path(get_robot_configs_path(), robot_file))["robot_cfg"][
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"kinematics"
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]
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config = CudaRobotGeneratorConfig(**robot_params)
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assert config.ee_link == robot_params["ee_link"]
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def test_cuda_robot_generator():
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robot_file = "franka.yml"
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robot_params = load_yaml(join_path(get_robot_configs_path(), robot_file))["robot_cfg"][
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"kinematics"
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]
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config = CudaRobotGeneratorConfig(**robot_params)
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robot_generator = CudaRobotGenerator(config)
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assert robot_generator.kinematics_config.n_dof == 7
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def test_cuda_robot_config():
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robot_file = "franka.yml"
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config = CudaRobotModelConfig.from_robot_yaml_file(robot_file)
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assert config.kinematics_config.n_dof == 7
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def test_cuda_robot_generator_config_cspace():
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robot_file = "franka.yml"
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robot_params = load_yaml(join_path(get_robot_configs_path(), robot_file))["robot_cfg"][
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"kinematics"
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]
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config = CudaRobotGeneratorConfig(**robot_params)
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assert len(config.cspace.max_jerk) == len(config.cspace.joint_names)
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robot_generator = CudaRobotGenerator(config)
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assert len(robot_generator.cspace.max_jerk) == 7
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