From 13bf7f50ce0c66d942884b502294014360190e82 Mon Sep 17 00:00:00 2001 From: Steve Peters Date: Mon, 8 Apr 2024 18:14:24 -0700 Subject: [PATCH] Disable test failing due to ODE/libccd (#621) Part of #620. Signed-off-by: Steve Peters --- test/common_test/joint_features.cc | 18 ++++++++++++++++-- 1 file changed, 16 insertions(+), 2 deletions(-) diff --git a/test/common_test/joint_features.cc b/test/common_test/joint_features.cc index 346821bb6..68d0dbc76 100644 --- a/test/common_test/joint_features.cc +++ b/test/common_test/joint_features.cc @@ -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();