bindings_build_geom_from_urdf_memorycheck.py
Go to the documentation of this file.
1 import os
2 import unittest
3 
4 import pinocchio as pin
5 
6 
7 @unittest.skipUnless(pin.WITH_URDFDOM, "Needs URDFDOM")
8 class TestBuildGeomFromUrdfMemoryCheck(unittest.TestCase):
9  def setUp(self):
10  self.current_file = os.path.dirname(str(os.path.abspath(__file__)))
11  self.model_dir = os.path.abspath(
12  os.path.join(self.current_file, "../../models/")
13  )
14  self.model_path = os.path.abspath(
15  os.path.join(
16  self.model_dir,
17  "example-robot-data/robots/ur_description/urdf/ur5_robot.urdf",
18  )
19  )
20 
21  def test_load(self):
22  model = pin.buildModelFromUrdf(self.model_path)
23  for _ in range(2):
24  pin.buildGeomFromUrdf(
25  model,
26  self.model_path,
27  pin.COLLISION,
28  package_dirs=self.model_dir,
29  )
30 
31 
32 if __name__ == "__main__":
33  unittest.main()
bindings_build_geom_from_urdf_memorycheck.TestBuildGeomFromUrdfMemoryCheck
Definition: bindings_build_geom_from_urdf_memorycheck.py:8
bindings_build_geom_from_urdf_memorycheck.TestBuildGeomFromUrdfMemoryCheck.current_file
current_file
Definition: bindings_build_geom_from_urdf_memorycheck.py:10
bindings_build_geom_from_urdf_memorycheck.TestBuildGeomFromUrdfMemoryCheck.model_path
model_path
Definition: bindings_build_geom_from_urdf_memorycheck.py:14
bindings_build_geom_from_urdf_memorycheck.TestBuildGeomFromUrdfMemoryCheck.setUp
def setUp(self)
Definition: bindings_build_geom_from_urdf_memorycheck.py:9
bindings_build_geom_from_urdf_memorycheck.TestBuildGeomFromUrdfMemoryCheck.model_dir
model_dir
Definition: bindings_build_geom_from_urdf_memorycheck.py:11
bindings_build_geom_from_urdf_memorycheck.TestBuildGeomFromUrdfMemoryCheck.test_load
def test_load(self)
Definition: bindings_build_geom_from_urdf_memorycheck.py:21


pinocchio
Author(s):
autogenerated on Sun Jun 16 2024 02:43:06