test for jointdynamics
@@ -372,9 +372,14 @@ class TestSerialLink(unittest.TestCase):
def test_jointdynamics(self):
# TODO
- panda = rp.models.DH.Panda()
- panda.jointdynamics(1, 2)
- pass
+ self.skipTest("error jointdynamics not complete")
+ # error in the J value
+ puma = rp.models.DH.Puma560()
+ jd = puma.jointdynamics(puma.qn)
+ nt.assert_array_almost_equal(jd[0], [0.001133478453251, 0.001480000000000])
+ nt.assert_array_almost_equal(jd[1], [0.579706964030143e-3, 0.817000000000000e-3])
+ nt.assert_array_almost_equal(jd[2], [0.000525146448377, 0.001380000000000])
+
def test_twists(self):
# TODO
