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# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Test cases for PinkKinematicsConfiguration class."""
# Import pinocchio in the main script to force the use of the dependencies installed
# by IsaacLab and not the one installed by Isaac Sim
# pinocchio is required by the Pink IK controller
import sys
if sys.platform != "win32":
import pinocchio # noqa: F401
from isaaclab.app import AppLauncher
# launch omniverse app
simulation_app = AppLauncher(headless=True).app
from pathlib import Path
import numpy as np
import pinocchio as pin
import pytest
from pink.exceptions import FrameNotFound
from isaaclab.controllers.pink_ik.pink_kinematics_configuration import PinkKinematicsConfiguration
class TestPinkKinematicsConfiguration:
"""Test suite for PinkKinematicsConfiguration class."""
@pytest.fixture
def urdf_path(self):
"""Path to test URDF file."""
return Path(__file__).parent / "urdfs/test_urdf_two_link_robot.urdf"
@pytest.fixture
def mesh_path(self):
"""Path to mesh directory (empty for simple test)."""
return ""
@pytest.fixture
def controlled_joint_names(self):
"""List of controlled joint names for testing."""
return ["joint_1", "joint_2"]
@pytest.fixture
def pink_config(self, urdf_path, mesh_path, controlled_joint_names):
"""Create a PinkKinematicsConfiguration instance for testing."""
return PinkKinematicsConfiguration(
urdf_path=str(urdf_path),
mesh_path=mesh_path,
controlled_joint_names=controlled_joint_names,
copy_data=True,
forward_kinematics=True,
)
def test_initialization(self, pink_config, controlled_joint_names):
"""Test proper initialization of PinkKinematicsConfiguration."""
# Check that controlled joint names are stored correctly
assert pink_config._controlled_joint_names == controlled_joint_names
# Check that both full and controlled models are created
assert pink_config.full_model is not None
assert pink_config.controlled_model is not None
assert pink_config.full_data is not None
assert pink_config.controlled_data is not None
# Check that configuration vectors are initialized
assert pink_config.full_q is not None
assert pink_config.controlled_q is not None
# Check that the controlled model has the same number or fewer joints than the full model
assert pink_config.controlled_model.nq == pink_config.full_model.nq
def test_joint_names_properties(self, pink_config):
"""Test joint name properties."""
# Test controlled joint names in pinocchio order
controlled_names = pink_config.controlled_joint_names_pinocchio_order
assert isinstance(controlled_names, list)
assert len(controlled_names) == len(pink_config._controlled_joint_names)
assert "joint_1" in controlled_names
assert "joint_2" in controlled_names
# Test all joint names in pinocchio order
all_names = pink_config.all_joint_names_pinocchio_order
assert isinstance(all_names, list)
assert len(all_names) == len(controlled_names)
assert "joint_1" in all_names
assert "joint_2" in all_names
def test_update_with_valid_configuration(self, pink_config):
"""Test updating configuration with valid joint values."""
# Get initial configuration
initial_q = pink_config.full_q.copy()
# Create a new configuration with different joint values
new_q = initial_q.copy()
new_q[1] = 0.5 # Change first revolute joint value (index 1, since 0 is fixed joint)
# Update configuration
pink_config.update(new_q)
# Check that the configuration was updated
print(pink_config.full_q)
assert not np.allclose(pink_config.full_q, initial_q)
assert np.allclose(pink_config.full_q, new_q)
def test_update_with_none(self, pink_config):
"""Test updating configuration with None (should use current configuration)."""
# Get initial configuration
initial_q = pink_config.full_q.copy()
# Update with None
pink_config.update(None)
# Configuration should remain the same
assert np.allclose(pink_config.full_q, initial_q)
def test_update_with_wrong_dimensions(self, pink_config):
"""Test that update raises ValueError with wrong configuration dimensions."""
# Create configuration with wrong number of joints
wrong_q = np.array([0.1, 0.2, 0.3]) # Wrong number of joints
with pytest.raises(ValueError, match="q must have the same length as the number of joints"):
pink_config.update(wrong_q)
def test_get_frame_jacobian_existing_frame(self, pink_config):
"""Test getting Jacobian for an existing frame."""
# Get Jacobian for link_1 frame
jacobian = pink_config.get_frame_jacobian("link_1")
# Check that Jacobian has correct shape
# Should be 6 rows (linear + angular velocity) and columns equal to controlled joints
expected_rows = 6
expected_cols = len(pink_config._controlled_joint_names)
assert jacobian.shape == (expected_rows, expected_cols)
# Check that Jacobian is not all zeros (should have some non-zero values)
assert not np.allclose(jacobian, 0.0)
def test_get_frame_jacobian_nonexistent_frame(self, pink_config):
"""Test that get_frame_jacobian raises FrameNotFound for non-existent frame."""
with pytest.raises(FrameNotFound):
pink_config.get_frame_jacobian("nonexistent_frame")
def test_get_transform_frame_to_world_existing_frame(self, pink_config):
"""Test getting transform for an existing frame."""
# Get transform for link_1 frame
transform = pink_config.get_transform_frame_to_world("link_1")
# Check that transform is a pinocchio SE3 object
assert isinstance(transform, pin.SE3)
# Check that transform has reasonable values (not identity for non-zero joint angles)
assert not np.allclose(transform.homogeneous, np.eye(4))
def test_get_transform_frame_to_world_nonexistent_frame(self, pink_config):
"""Test that get_transform_frame_to_world raises FrameNotFound for non-existent frame."""
with pytest.raises(FrameNotFound):
pink_config.get_transform_frame_to_world("nonexistent_frame")
def test_multiple_controlled_joints(self, urdf_path, mesh_path):
"""Test configuration with multiple controlled joints."""
# Create configuration with all available joints as controlled
controlled_joint_names = ["joint_1", "joint_2"] # Both revolute joints
pink_config = PinkKinematicsConfiguration(
urdf_path=str(urdf_path),
mesh_path=mesh_path,
controlled_joint_names=controlled_joint_names,
)
# Check that controlled model has correct number of joints
assert pink_config.controlled_model.nq == len(controlled_joint_names)
def test_no_controlled_joints(self, urdf_path, mesh_path):
"""Test configuration with no controlled joints."""
controlled_joint_names = []
pink_config = PinkKinematicsConfiguration(
urdf_path=str(urdf_path),
mesh_path=mesh_path,
controlled_joint_names=controlled_joint_names,
)
# Check that controlled model has 0 joints
assert pink_config.controlled_model.nq == 0
assert len(pink_config.controlled_q) == 0
def test_jacobian_consistency(self, pink_config):
"""Test that Jacobian computation is consistent across updates."""
# Get Jacobian at initial configuration
jacobian_1 = pink_config.get_frame_jacobian("link_2")
# Update configuration
new_q = pink_config.full_q.copy()
new_q[1] = 0.3 # Change first revolute joint (index 1, since 0 is fixed joint)
pink_config.update(new_q)
# Get Jacobian at new configuration
jacobian_2 = pink_config.get_frame_jacobian("link_2")
# Jacobians should be different (not all close)
assert not np.allclose(jacobian_1, jacobian_2)
def test_transform_consistency(self, pink_config):
"""Test that transform computation is consistent across updates."""
# Get transform at initial configuration
transform_1 = pink_config.get_transform_frame_to_world("link_2")
# Update configuration
new_q = pink_config.full_q.copy()
new_q[1] = 0.5 # Change first revolute joint (index 1, since 0 is fixed joint)
pink_config.update(new_q)
# Get transform at new configuration
transform_2 = pink_config.get_transform_frame_to_world("link_2")
# Transforms should be different
assert not np.allclose(transform_1.homogeneous, transform_2.homogeneous)
def test_inheritance_from_configuration(self, pink_config):
"""Test that PinkKinematicsConfiguration properly inherits from Pink Configuration."""
from pink.configuration import Configuration
# Check inheritance
assert isinstance(pink_config, Configuration)
# Check that we can call parent class methods
assert hasattr(pink_config, "update")
assert hasattr(pink_config, "get_transform_frame_to_world")
def test_controlled_joint_indices_calculation(self, pink_config):
"""Test that controlled joint indices are calculated correctly."""
# Check that controlled joint indices are valid
assert len(pink_config._controlled_joint_indices) == len(pink_config._controlled_joint_names)
# Check that all indices are within bounds
for idx in pink_config._controlled_joint_indices:
assert 0 <= idx < len(pink_config._all_joint_names)
# Check that indices correspond to controlled joint names
for i, idx in enumerate(pink_config._controlled_joint_indices):
joint_name = pink_config._all_joint_names[idx]
assert joint_name in pink_config._controlled_joint_names
def test_full_model_integrity(self, pink_config):
"""Test that the full model maintains integrity."""
# Check that full model has all joints
assert pink_config.full_model.nq > 0
assert len(pink_config.full_model.names) > 1 # More than just "universe"
def test_controlled_model_integrity(self, pink_config):
"""Test that the controlled model maintains integrity."""
# Check that controlled model has correct number of joints
assert pink_config.controlled_model.nq == len(pink_config._controlled_joint_names)
def test_configuration_vector_consistency(self, pink_config):
"""Test that configuration vectors are consistent between full and controlled models."""
# Check that controlled_q is a subset of full_q
controlled_indices = pink_config._controlled_joint_indices
for i, idx in enumerate(controlled_indices):
assert np.isclose(pink_config.controlled_q[i], pink_config.full_q[idx])
def test_error_handling_invalid_urdf(self, mesh_path, controlled_joint_names):
"""Test error handling with invalid URDF path."""
with pytest.raises(Exception): # Should raise some exception for invalid URDF
PinkKinematicsConfiguration(
urdf_path="nonexistent.urdf",
mesh_path=mesh_path,
controlled_joint_names=controlled_joint_names,
)
def test_error_handling_invalid_joint_names(self, urdf_path, mesh_path):
"""Test error handling with invalid joint names."""
invalid_joint_names = ["nonexistent_joint"]
# This should not raise an error, but the controlled model should have 0 joints
pink_config = PinkKinematicsConfiguration(
urdf_path=str(urdf_path),
mesh_path=mesh_path,
controlled_joint_names=invalid_joint_names,
)
assert pink_config.controlled_model.nq == 0
assert len(pink_config.controlled_q) == 0
def test_undercontrolled_kinematics_model(self, urdf_path, mesh_path):
"""Test that the fixed joint to world is properly handled."""
test_model = PinkKinematicsConfiguration(
urdf_path=str(urdf_path),
mesh_path=mesh_path,
controlled_joint_names=["joint_1"],
copy_data=True,
forward_kinematics=True,
)
# Check that the controlled model only includes the revolute joints
assert "joint_1" in test_model.controlled_joint_names_pinocchio_order
assert "joint_2" not in test_model.controlled_joint_names_pinocchio_order
assert len(test_model.controlled_joint_names_pinocchio_order) == 1 # Only the two revolute joints
# Check that the full configuration has more elements than controlled
assert len(test_model.full_q) > len(test_model.controlled_q)
assert len(test_model.full_q) == len(test_model.all_joint_names_pinocchio_order)
assert len(test_model.controlled_q) == len(test_model.controlled_joint_names_pinocchio_order)
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