initial commit, add gello software code and instructions

gello/dm_control_tasks/arms/ur5e_test.py

@@ -0,0 +1,22 @@
+"""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()