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test controllers with relaxed bounds

This commit is contained in:
Frank Yang 2024-10-01 00:23:11 -07:00
parent df38c80ae3
commit 1954ad4783
1 changed files with 8 additions and 8 deletions
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16
tests/test_controllers.py
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@ -108,34 +108,34 @@ def test_arm_control():
}, },
"base_move": { "base_move": {
"pos": lambda target, curr, init: check_zero_error( "pos": lambda target, curr, init: check_zero_error(
curr, init, tol=0.02 curr, init, tol=0.05
), # Slightly bigger tolerance with base moving ), # Slightly bigger tolerance with base moving
"ori": lambda target, curr, init: check_ori_error(curr, init), "ori": lambda target, curr, init: check_ori_error(curr, init),
}, },
}, },
"absolute_pose": { "absolute_pose": {
"zero": { "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), "ori": lambda target, curr, init: check_ori_error(target, curr),
}, },
"forward": { "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), "ori": lambda target, curr, init: check_ori_error(target, curr),
}, },
"side": { "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), "ori": lambda target, curr, init: check_ori_error(target, curr),
}, },
"up": { "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), "ori": lambda target, curr, init: check_ori_error(target, curr),
}, },
"rotate": { "rotate": {
"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, tol=0.05), "ori": lambda target, curr, init: check_ori_error(target, curr),
}, },
"base_move": { "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), "ori": lambda target, curr, init: check_ori_error(target, curr),
}, },
}, },