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Disable test failing due to ODE/libccd #621

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merged 1 commit into from
Apr 9, 2024
Merged

Disable test failing due to ODE/libccd #621

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18 changes: 16 additions & 2 deletions test/common_test/joint_features.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -966,9 +966,23 @@ TYPED_TEST(JointFeaturesDetachTest, JointDetach)
// sanity check on velocity values
EXPECT_LT(1e-5, upperLinkLinearVelocity.Z());
EXPECT_GT(-0.03, upperLinkAngularVelocity.X());
EXPECT_NEAR(0.0, upperLinkLinearVelocity.X(), 1e-6);
#ifdef __APPLE__
// Disable some expectations for dartsim plugin on homebrew,
// see https://github.com/gazebosim/gz-physics/issues/620.
if (this->PhysicsEngineName(name) != "dartsim")
#endif
{
EXPECT_NEAR(0.0, upperLinkLinearVelocity.X(), 1e-6);
}
EXPECT_NEAR(0.0, upperLinkLinearVelocity.Y(), 1e-6);
EXPECT_NEAR(0.0, upperLinkAngularVelocity.Y(), 1e-6);
#ifdef __APPLE__
// Disable some expectations for dartsim plugin on homebrew,
// see https://github.com/gazebosim/gz-physics/issues/620.
if (this->PhysicsEngineName(name) != "dartsim")
#endif
{
EXPECT_NEAR(0.0, upperLinkAngularVelocity.Y(), 1e-6);
}
EXPECT_NEAR(0.0, upperLinkAngularVelocity.Z(), 1e-6);

upperJoint->Detach();
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