Commit 83b16aa2 authored by Olivier Stasse's avatar Olivier Stasse Committed by olivier stasse
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[Online walking] Remove dx from the test.

Indeed as the simulation may vary in speed, and as the robot is
suppose to move forward, test only if the robot did not fall down
and did not drift too much.
parent ecd630be
...@@ -26,7 +26,10 @@ class TestSoTTalos(unittest.TestCase): ...@@ -26,7 +26,10 @@ class TestSoTTalos(unittest.TestCase):
f.write("x:"+str(gzGetModelPropResp.pose.position.x)+"\n") f.write("x:"+str(gzGetModelPropResp.pose.position.x)+"\n")
f.write("y:"+str(gzGetModelPropResp.pose.position.y)+"\n") f.write("y:"+str(gzGetModelPropResp.pose.position.y)+"\n")
f.write("z:"+str(gzGetModelPropResp.pose.position.z)+"\n") f.write("z:"+str(gzGetModelPropResp.pose.position.z)+"\n")
dx=gzGetModelPropResp.pose.position.x-2.1045 # dx depends on the timing of the simulation
# which can be different from one computer to another.
# Therefore check only dy and dz.
dy=gzGetModelPropResp.pose.position.y-0.0038 dy=gzGetModelPropResp.pose.position.y-0.0038
dz=gzGetModelPropResp.pose.position.z-1.00152 dz=gzGetModelPropResp.pose.position.z-1.00152
ldistance = math.sqrt(dx*dx+dy*dy+dz*dz) ldistance = math.sqrt(dx*dx+dy*dy+dz*dz)
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