23 lines
531 B
Python
23 lines
531 B
Python
|
"""Tests for ur5e.py."""
|
||
|
|
|
||
|
|
from absl.testing import absltest
|
||
|
|
from dm_control import mjcf
|
||
|
|
|
||
|
|
from gello.dm_control_tasks.arms import ur5e
|
||
|
|
|
||
|
|
|
||
|
|
class UR5eTest(absltest.TestCase):
|
||
|
|
def test_compiles_and_steps(self) -> None:
|
||
|
|
robot = ur5e.UR5e()
|
||
|
|
physics = mjcf.Physics.from_mjcf_model(robot.mjcf_model)
|
||
|
|
physics.step()
|
||
|
|
|
||
|
|
def test_joints(self) -> None:
|
||
|
|
robot = ur5e.UR5e()
|
||
|
|
for joint in robot.joints:
|
||
|
|
self.assertEqual(joint.tag, "joint")
|
||
|
|
|
||
|
|
|
||
|
|
if __name__ == "__main__":
|
||
|
|
absltest.main()
|