fix joint dynamics test
@@ -402,12 +402,13 @@ class TestDHRobot(unittest.TestCase):
def test_jointdynamics(self):
puma = rp.models.DH.Puma560()
jd = puma.jointdynamics(puma.qn)
+ print(jd[0])
# numbers come from MATLAB
- nt.assert_array_almost_equal(jd[0], [0.001133478453251, 0.001480000000000])
+ nt.assert_array_almost_equal(jd[0][1], [0.001133478453251, 0.001480000000000])
nt.assert_array_almost_equal(
- jd[1], [0.579706964030143e-3, 0.817000000000000e-3]
+ jd[1][1], [0.579706964030143e-3, 0.817000000000000e-3]
)
- nt.assert_array_almost_equal(jd[2], [0.000525146448377, 0.001380000000000])
+ nt.assert_array_almost_equal(jd[2][1], [0.000525146448377, 0.001380000000000])
def test_twists(self):
# TODO
