From dcb21ba73eed74d95eae563d12440b636338ae27 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Fri, 22 Dec 2023 07:59:09 +0000 Subject: [PATCH] Make lowest point in test trajectory be at [0.1] Otherwise some robot models collide with the ground during execution. --- ur_simulation_gazebo/test/test_gazebo.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ur_simulation_gazebo/test/test_gazebo.py b/ur_simulation_gazebo/test/test_gazebo.py index 5aa45c5..172f839 100644 --- a/ur_simulation_gazebo/test/test_gazebo.py +++ b/ur_simulation_gazebo/test/test_gazebo.py @@ -119,7 +119,7 @@ def test_trajectory(self, ur_type): """Test robot movement.""" # Construct test trajectory test_trajectory = [ - (Duration(sec=6, nanosec=0), [0.0 for j in ROBOT_JOINTS]), + (Duration(sec=6, nanosec=0), [-0.1 for j in ROBOT_JOINTS]), (Duration(sec=9, nanosec=0), [-0.5 for j in ROBOT_JOINTS]), (Duration(sec=12, nanosec=0), [-1.0 for j in ROBOT_JOINTS]), ]