()
| 289 | |
| 290 | |
| 291 | def test_manipulator_limits(): |
| 292 | model = pin.buildSampleModelManipulator() |
| 293 | geom_model = pin.buildSampleGeometryModelManipulator(model) |
| 294 | q0 = pin.neutral(model) |
| 295 | model.lowerPositionLimit = q0.copy() |
| 296 | model.upperPositionLimit = q0.copy() |
| 297 | sim = simple.Simulator(model, geom_model) |
| 298 | v = np.zeros(model.nv) |
| 299 | tau = np.zeros(model.nv) |
| 300 | dt = 1e-3 |
| 301 | sim.step(q0, v, tau, dt) |
| 302 | assert sim.constraints_problem.getNumberOfContacts() == 0 |
| 303 | assert sim.constraints_problem.constraints_problem_size() == 2 * model.nq |
| 304 | assert np.linalg.norm(sim.vnew) < 1e-6 |
| 305 | |
| 306 | |
| 307 | def test_humanoid_limits(): |
nothing calls this directly
no test coverage detected