text: # Copyright (c) 2020 NVIDIA Corporation
  
  # Permission is hereby granted, free of charge, to any person obtaining
  # a copy of this software and associated documentation files (the "Software"),
  # to deal in the Software without restriction, including without limitation
  # the rights to use, copy, modify, merge, publish, distribute, sublicense,
  # and/or sell copies of the Software, and to permit persons to whom the
  # Software is furnished to do so, subject to the following conditions:
  
  # The above copyright notice and this permission notice shall be included
  # in all copies or substantial portions of the Software.
  
  # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  # IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  # FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
  # THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
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  # ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
  # OTHER DEALINGS IN THE SOFTWARE.
  """Test if config files are imported correctly."""
  
  import hydra
  from omegaconf import DictConfig
  
  from context import graspsampling
  from graspsampling import utilities, sampling
  
  
  @hydra.main(config_path='../conf', config_name="config")
  def my_app(cfg: DictConfig) -> None:
      """Test if config files are imported correctly."""
      print(cfg.pretty())
  
      object_mesh = utilities.instantiate_mesh(**cfg.object)
      gripper = hydra.utils.instantiate(cfg.gripper)
  
      sampler = hydra.utils.instantiate(cfg.sampler, gripper=gripper, object_mesh=object_mesh)
      results = sampling.collision_free_grasps(gripper, object_mesh, sampler, cfg.number_of_grasps)
  
      output = hydra.utils.instantiate(cfg.output)
      output.write(results)
  
  
  if __name__ == "__main__":
      # load configuration via hydra
      my_app()
  