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Disable test failing due to ODE/libccd (backport #621) #643

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May 21, 2024
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Disable test failing due to ODE/libccd (backport #621) #643

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8 changes: 8 additions & 0 deletions dartsim/src/JointFeatures_TEST.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -743,9 +743,17 @@ TEST_F(JointFeaturesFixture, JointDetach)
// sanity check on velocity values
EXPECT_LT(1e-5, upperLinkLinearVelocity.Z());
EXPECT_GT(-0.03, upperLinkAngularVelocity.X());
#ifndef __APPLE__
// Disable some expectations for dartsim plugin on homebrew,
// see https://github.com/gazebosim/gz-physics/issues/620.
EXPECT_NEAR(0.0, upperLinkLinearVelocity.X(), 1e-6);
#endif
EXPECT_NEAR(0.0, upperLinkLinearVelocity.Y(), 1e-6);
#ifndef __APPLE__
// Disable some expectations for dartsim plugin on homebrew,
// see https://github.com/gazebosim/gz-physics/issues/620.
EXPECT_NEAR(0.0, upperLinkAngularVelocity.Y(), 1e-6);
#endif
EXPECT_NEAR(0.0, upperLinkAngularVelocity.Z(), 1e-6);

upperJoint->Detach();
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