()
| 69 | not HAS_PINOCCHIO, reason="Aligator was compiled without Pinocchio." |
| 70 | ) |
| 71 | def test_custom_ode(): |
| 72 | ode = MyODE() |
| 73 | itg = dynamics.IntegratorEuler(ode, 0.01) |
| 74 | x0 = ode.space.rand() |
| 75 | us = [np.zeros(0) for _ in range(10)] |
| 76 | xs = aligator.rollout(itg, x0, us) |
| 77 | print(xs.tolist()) |
| 78 | assert len(xs) == 11 |
| 79 | |
| 80 | |
| 81 | @pytest.mark.skipif( |