()
| 561 | return model, data, geom_model, geom_data |
| 562 | |
| 563 | def test_step_solo(): |
| 564 | model, data, geom_model, geom_data = setSolo() |
| 565 | q = model.qref.copy() |
| 566 | v = np.zeros(model.nv) |
| 567 | tau = np.zeros(model.nv) |
| 568 | dt = 1e-3 |
| 569 | sim = simple.Simulator(model, data, geom_model, geom_data) |
| 570 | sim.step(q, v, tau, dt) |
| 571 | assert sim.constraints_problem.getNumberOfContacts() == 4 |
| 572 | |
| 573 | |
| 574 | # test_init() |
nothing calls this directly
no test coverage detected