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test_utils.py
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test_utils.py
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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
#
# SPDX-License-Identifier: Apache-2.0
# Copyright 2022 Stéphane Caron
# Copyright 2023 Inria
"""Test fixture for other library features."""
import unittest
import numpy as np
import pinocchio as pin
from robot_descriptions.loaders.pinocchio import load_robot_description
from pink.exceptions import ConfigurationError
from pink.utils import VectorSpace, custom_configuration_vector
class TestUtils(unittest.TestCase):
"""Test utility classes and functions."""
def test_custom_configuration_vector(self):
"""Check a custom configuration vector for Upkie.
Assumes the left and right knees have joint indices respectively 8 and
11 in the configuration vector.
"""
robot = load_robot_description(
"upkie_description", root_joint=pin.JointModelFreeFlyer()
)
q = custom_configuration_vector(robot, left_knee=0.2, right_knee=-0.2)
self.assertAlmostEqual(q[8], 0.2)
self.assertAlmostEqual(q[11], -0.2)
def test_custom_configuration_vector_unbounded_joints(self):
"""Single number for an unbounded joint should yield an error."""
robot = load_robot_description("gen2_description", root_joint=None)
with self.assertRaises(ConfigurationError):
custom_configuration_vector(robot, j2s6s200_joint_1=0.0)
cos = np.sqrt(3) / 2.0
sin = 0.5
q = custom_configuration_vector(robot, j2s6s200_joint_1=[cos, sin])
self.assertAlmostEqual(q[0], cos)
self.assertAlmostEqual(q[1], sin)
def test_vector_space(self):
"""Check dimensions of regular tangent space."""
robot = load_robot_description(
"upkie_description", root_joint=pin.JointModelFreeFlyer()
)
nv = robot.model.nv
tangent = VectorSpace(robot.model.nv)
self.assertEqual(tangent.eye.shape, (nv, nv))
self.assertEqual(tangent.ones.shape, (nv,))
self.assertEqual(tangent.zeros.shape, (nv,))