cleanup

Author: Peter

tests/test_fk_perf.py renamed to tests/gen_fk_perf.py

@@ -1,3 +1,4 @@
+""" Generate performance data for multiple models, devices, data types, batch sizes, etc. """
 import timeit
 from time import perf_counter
 import torch
@@ -7,7 +8,6 @@
 
 
 def main():
-    # do an in-depth analysis of multiple models, devices, data types, batch sizes, etc.
     np.set_printoptions(precision=3, suppress=True, linewidth=220)
     torch.set_printoptions(precision=3, sci_mode=False, linewidth=220)
 

tests/test_kinematics.py

@@ -1,23 +1,13 @@
-import os
 import math
+import os
 
-import numpy as np
 import torch
 
 import pytorch_kinematics as pk
 
 TEST_DIR = os.path.dirname(__file__)
 
 
-def mat_to_rr_tf3d(frame_transform):
-    import rerun as rr
-    frame_transform = torch.squeeze(frame_transform).cpu().numpy()
-    pos = frame_transform[:3, 3]
-    rot = frame_transform[:3, :3]
-    rr_tf3d = rr.Transform3D(translation=pos, mat3x3=rot)
-    return rr_tf3d
-
-
 def quat_pos_from_transform3d(tg):
     m = tg.get_matrix()
     pos = m[:, :3, 3]