186 create reachyhome #197
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| assert np.isclose( | ||
| Quaternion.distance(reachy_sdk_zeroed.head.get_orientation(), zero_head), 0, atol=1e-03 | ||
| ) # why not 1e-04 here? | ||
| assert np.allclose(reachy_sdk_zeroed.r_arm.get_joints_positions(), zero_arm, atol=1e-01) |
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same here. precision is very low compare to above (in my tests)
| assert reachy_sdk_zeroed.get_goto_state(req_r).goal_status == GoalStatus.STATUS_SUCCEEDED | ||
| assert reachy_sdk_zeroed.get_goto_state(req_l).goal_status == GoalStatus.STATUS_SUCCEEDED | ||
| assert np.isclose(Quaternion.distance(reachy_sdk_zeroed.head.get_orientation(), zero_head), 0, atol=1e-04) | ||
| assert np.allclose(reachy_sdk_zeroed.r_arm.get_joints_positions(), zero_arm, atol=1e-01) |
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atol=1e-01 is low. It actually works without atol (= default high precision) which is better
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Add a function reachy.home() to reset all joints to 0.