Loose test condition

iory · Feb 8, 2024 · 92910e2 · 92910e2
1 parent 02839f6
commit 92910e2
Showing 1 changed file with 7 additions and 3 deletions.
diff --git a/ros/kxr_controller/test/test_kxr_controller.py b/ros/kxr_controller/test/test_kxr_controller.py
@@ -39,9 +39,13 @@ def test_follow_joint_trajectory(self):
         self.ri.wait_interpolation()
         rospy.sleep(1.0)
         current_angles = self.ri.angle_vector()
-        testing.assert_array_almost_equal(
-            np.rad2deg(current_angles), [45, 45],
-            decimal=0)
+        expected_angles = 45 * np.ones(len(current_angles))
+        self.assertTrue(
+            np.all(np.abs(np.rad2deg(current_angles)
+                          - expected_angles) <= 2.0),
+            f"The difference in angles exceeds 2 degrees: "
+            f"Current angles = {current_angles}, "
+            f"Expected angles = {expected_angles}")
         self.ri.angle_vector(self.robot_model.init_pose(), 1.0)
         self.ri.wait_interpolation()
         self.ri.servo_off()