From 1954ad478399ee02d8a4531685cd7b7ffcb6b620 Mon Sep 17 00:00:00 2001
From: Frank Yang <fyx5811@capri32.stanford.edu>
Date: Tue, 1 Oct 2024 00:23:11 -0700
Subject: [PATCH] test controllers with relaxed bounds

---
 tests/test_controllers.py | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/tests/test_controllers.py b/tests/test_controllers.py
index fc571c1e4..dbf446f84 100644
--- a/tests/test_controllers.py
+++ b/tests/test_controllers.py
@@ -108,34 +108,34 @@ def test_arm_control():
             },
             "base_move": {
                 "pos": lambda target, curr, init: check_zero_error(
-                    curr, init, tol=0.02
+                    curr, init, tol=0.05
                 ),  # Slightly bigger tolerance with base moving
                 "ori": lambda target, curr, init: check_ori_error(curr, init),
             },
         },
         "absolute_pose": {
             "zero": {
-                "pos": lambda target, curr, init: check_zero_error(target, curr, tol=5e-3),
+                "pos": lambda target, curr, init: check_zero_error(target, curr),
                 "ori": lambda target, curr, init: check_ori_error(target, curr),
             },
             "forward": {
-                "pos": lambda target, curr, init: check_zero_error(target, curr, tol=5e-3),
+                "pos": lambda target, curr, init: check_zero_error(target, curr),
                 "ori": lambda target, curr, init: check_ori_error(target, curr),
             },
             "side": {
-                "pos": lambda target, curr, init: check_zero_error(target, curr, tol=5e-3),
+                "pos": lambda target, curr, init: check_zero_error(target, curr),
                 "ori": lambda target, curr, init: check_ori_error(target, curr),
             },
             "up": {
-                "pos": lambda target, curr, init: check_zero_error(target, curr, tol=5e-3),
+                "pos": lambda target, curr, init: check_zero_error(target, curr),
                 "ori": lambda target, curr, init: check_ori_error(target, curr),
             },
             "rotate": {
-                "pos": lambda target, curr, init: check_zero_error(target, curr, tol=5e-3),
-                "ori": lambda target, curr, init: check_ori_error(target, curr, tol=0.05),
+                "pos": lambda target, curr, init: check_zero_error(target, curr),
+                "ori": lambda target, curr, init: check_ori_error(target, curr),
             },
             "base_move": {
-                "pos": lambda target, curr, init: check_zero_error(target, curr, tol=5e-3),
+                "pos": lambda target, curr, init: check_zero_error(target, curr),
                 "ori": lambda target, curr, init: check_ori_error(target, curr),
             },
         },