85 lines
2.6 KiB
Python
85 lines
2.6 KiB
Python
from pathlib import Path
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from xml.etree import ElementTree
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import numpy as np
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import pytest
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from xr_rm_teleop.placo_ik_solver import (
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PlacoIkSolver,
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_validated_transform,
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)
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def test_fixed_urdf_has_seven_moving_joints_and_omnipicker_tcp() -> None:
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urdf_path = (
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Path(__file__).resolve().parents[1]
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/ "models"
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/ "rm75_omnipicker"
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/ "urdf"
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/ "RM75-B_OmniPicker_fixed.urdf"
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)
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root = ElementTree.parse(urdf_path).getroot()
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moving_joint_names = [
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joint.attrib["name"]
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for joint in root.findall("joint")
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if joint.attrib["type"] != "fixed"
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]
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tcp_joint = root.find("joint[@name='omnipicker_tcp_joint']")
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mesh_filenames = [
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mesh.attrib["filename"]
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for mesh in root.findall(".//mesh")
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]
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assert moving_joint_names == [f"joint_{index}" for index in range(1, 8)]
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assert all(
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filename.startswith(
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"package://xr_rm_teleop/models/rm75_omnipicker/meshes/"
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)
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for filename in mesh_filenames
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)
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assert tcp_joint is not None
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assert tcp_joint.attrib["type"] == "fixed"
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assert tcp_joint.find("parent").attrib["link"] == "omnipicker_base_link"
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assert tcp_joint.find("child").attrib["link"] == "omnipicker_tcp"
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assert tcp_joint.find("origin").attrib["xyz"] == "0 0 0.16"
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assert tcp_joint.find("origin").attrib["rpy"] == "0 0 0"
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def test_validated_transform_accepts_finite_se3_and_returns_a_copy() -> None:
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transform = np.eye(4)
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transform[:3, 3] = [0.3, -0.1, 0.2]
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actual = _validated_transform(transform)
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assert actual == pytest.approx(transform)
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assert actual is not transform
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@pytest.mark.parametrize(
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"transform",
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[
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np.eye(3),
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np.full((4, 4), np.nan),
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np.vstack([np.eye(3, 4), [0.0, 0.0, 0.0, 2.0]]),
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np.diag([2.0, 1.0, 1.0, 1.0]),
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],
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)
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def test_validated_transform_rejects_invalid_se3(transform: np.ndarray) -> None:
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with pytest.raises(ValueError):
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_validated_transform(transform)
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def test_qp_result_rejects_nan_position_and_velocity_violations() -> None:
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solver = object.__new__(PlacoIkSolver)
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solver._joint_limits = np.asarray([[-1.0, 1.0]] * 7)
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solver._velocity_limits = np.ones(7)
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solver._dt = 0.1
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solver._actual_joints = np.zeros(7)
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with pytest.raises(ValueError, match="finite"):
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solver._validate_result(np.full(7, np.nan))
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with pytest.raises(ValueError, match="position"):
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solver._validate_result(np.full(7, 2.0))
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with pytest.raises(ValueError, match="velocity"):
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solver._validate_result(np.full(7, 0.2))
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