()
| 305 | |
| 306 | |
| 307 | def test_humanoid_limits(): |
| 308 | model = pin.buildSampleModelHumanoid() |
| 309 | geom_model = pin.buildSampleGeometryModelHumanoid(model) |
| 310 | q0 = pin.neutral(model) |
| 311 | model.lowerPositionLimit = q0.copy() |
| 312 | model.upperPositionLimit = q0.copy() |
| 313 | sim = simple.Simulator(model, geom_model) |
| 314 | v = np.zeros(model.nv) |
| 315 | tau = np.zeros(model.nv) |
| 316 | dt = 1e-3 |
| 317 | sim.step(q0, v, tau, dt) |
| 318 | assert sim.constraints_problem.getNumberOfContacts() == 0 |
| 319 | assert sim.constraints_problem.constraints_problem_size() == 2 * (model.nq - 4) |
| 320 | assert sim.admm_constraint_solver.getAbsoluteConvergenceResidual() < 1e-6 |
| 321 | |
| 322 | |
| 323 | def test_freeflyer_limits(): |
nothing calls this directly
no test coverage detected