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Humanoid Path Planner
hpp-rbprm-corba
Commits
82b00950
Commit
82b00950
authored
Mar 26, 2020
by
Pierre Fernbach
Browse files
[Tests] correctly test if the given normal is reached for 3D contacts
parent
bcfad6ea
Changes
1
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tests/python/test_rbprm_state_3d.py
View file @
82b00950
...
...
@@ -49,6 +49,8 @@ class TestRBPRMstate3D(unittest.TestCase):
self
.
assertTrue
(
state
.
isLimbInContact
(
fullbody
.
rArmId
))
self
.
assertTrue
(
state
.
isLimbInContact
(
fullbody
.
lArmId
))
self
.
assertTrue
(
state2
.
isBalanced
())
p_real
,
n_real
=
state2
.
getCenterOfContactForLimb
(
fullbody
.
rLegId
)
self
.
assertEqual
(
n
,
n_real
)
process
.
kill
()
...
...
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