()
| 56 | reason="Aligator was compiled without Pinocchio features.", |
| 57 | ) |
| 58 | def test_no_node(): |
| 59 | import example_robot_data as erd |
| 60 | from aligator.manifolds import MultibodyPhaseSpace |
| 61 | |
| 62 | robot = erd.load("ur5") |
| 63 | rmodel = robot.model |
| 64 | space = MultibodyPhaseSpace(rmodel) |
| 65 | actuation_matrix = np.eye(rmodel.nv) |
| 66 | nu = actuation_matrix.shape[1] |
| 67 | x0 = space.rand() |
| 68 | mu_init = 4e-2 |
| 69 | TOL = 1e-4 |
| 70 | MAX_ITER = 200 |
| 71 | terminal_cost = aligator.CostStack(space, nu) |
| 72 | problem = aligator.TrajOptProblem(x0, nu, space, terminal_cost) |
| 73 | solver = aligator.SolverProxDDP( |
| 74 | TOL, mu_init, max_iters=MAX_ITER, verbose=aligator.VERBOSE |
| 75 | ) |
| 76 | solver.setup(problem) |
| 77 | |
| 78 | |
| 79 | @pytest.fixture |
nothing calls this directly
no test coverage detected