From b38ff1d96d25c6ba741b1740aad81d74d41abf57 Mon Sep 17 00:00:00 2001 From: Filippo Luca Ferretti Date: Fri, 2 Feb 2024 11:27:42 +0100 Subject: [PATCH] Update Coriolis test --- tests/test_coriolis.py | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/tests/test_coriolis.py b/tests/test_coriolis.py index e72841ae8..c3574d51b 100644 --- a/tests/test_coriolis.py +++ b/tests/test_coriolis.py @@ -57,6 +57,5 @@ def test_coriolis(robot: utils_models.Robot, vel_repr: VelRepr) -> None: h = model.free_floating_bias_forces() nu = np.array(model.forward_dynamics_aba()) - assert np.allclose(h - (C @ nu)) - - assert np.allclose(M_dot - (C @ C.T), np.zeros_like(M_dot), atol=1e-5) + assert h == pytest.approx(C @ nu, abs=1e-5) + assert M_dot == pytest.approx(C @ C.T, abs=1e-5)