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