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Update FD tests
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flferretti committed Dec 5, 2023
1 parent c27082f commit a466981
Showing 1 changed file with 2 additions and 2 deletions.
4 changes: 2 additions & 2 deletions tests/test_forward_dynamics.py
Original file line number Diff line number Diff line change
Expand Up @@ -67,5 +67,5 @@ def test_aba(robot: utils_models.Robot, vel_repr: VelRepr) -> None:

v̇_WB, = model.forward_dynamics_crb(tau=tau)

assert .squeeze() == pytest.approx(s̈_aba.squeeze(), abs=0.5)
assert v̇_WB.squeeze() == pytest.approx(v̇_WB_aba.squeeze(), abs=0.2)
assert .squeeze() == pytest.approx(s̈_aba.squeeze(), rel=5e-3)
assert v̇_WB.squeeze() == pytest.approx(v̇_WB_aba.squeeze(), rel=5e-3)

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