fix(robot-model): kinematics tests (#207)

aica-technology · Dec 12, 2024 · 2e26bd7 · 2e26bd7
1 parent 4b821d0
commit 2e26bd7
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -19,6 +19,7 @@ Release Versions
 ## Upcoming changes
 
 - fix(robot-model): improve ik performance (#205)
+- fix(robot-model): kinematics tests (#207)
 
 ## 9.0.1
 

diff --git a/source/robot_model/test/tests/test_kinematics.cpp b/source/robot_model/test/tests/test_kinematics.cpp
@@ -311,9 +311,9 @@ TEST_F(RobotModelKinematicsTest, TestInverseKinematics) {
   InverseKinematicsParameters param = InverseKinematicsParameters();
   param.tolerance = tol;
 
-  std::size_t num_samples = 10000;
+  std::size_t num_samples = 100;
   for (const auto& urdf : std::vector<std::string>{"panda_arm.urdf", "ur5e.urdf", "xarm.urdf"}) {
-    auto robot = std::make_unique<Model>("robot", std::string(TEST_FIXTURES) + "panda_arm.urdf");
+    auto robot = std::make_unique<Model>("robot", std::string(TEST_FIXTURES) + urdf);
     state_representation::JointPositions config("robot", robot->get_joint_frames());
 
     int success = 0;
@@ -322,7 +322,7 @@ TEST_F(RobotModelKinematicsTest, TestInverseKinematics) {
     double total_time = 0;
     for (std::size_t i = 0; i < num_samples; ++i) {
       config.set_positions(pinocchio::randomConfiguration(robot->get_pinocchio_model()));
-      auto reference = franka->forward_kinematics(config);
+      auto reference = robot->forward_kinematics(config);
       try {
         start_time = std::chrono::system_clock::now();
         robot->inverse_kinematics(reference, param);