docs: changelog

aica-technology · Dec 12, 2024 · de4bb31 · de4bb31
1 parent 36f099c
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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
@@ -311,7 +311,7 @@ TEST_F(RobotModelKinematicsTest, TestInverseKinematics) {
   InverseKinematicsParameters param = InverseKinematicsParameters();
   param.tolerance = tol;
 
-  std::size_t num_samples = 10000;
+  std::size_t num_samples = 1000;
   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) + urdf);
     state_representation::JointPositions config("robot", robot->get_joint_frames());