test

Verdant-Evolution · Jun 7, 2024 · 707bf19 · 707bf19
1 parent e1fa647
commit 707bf19
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Showing 2 changed files with 6 additions and 3 deletions.
diff --git a/.github/workflows/ik_python.yml b/.github/workflows/ik_python.yml
@@ -22,8 +22,11 @@ jobs:
     test:
       runs-on: ubuntu-latest
       steps:
-        - uses: actions/download-artifact@v4
-        - name: Download wheels
+        - uses: actions/checkout@v4
+        - uses: actions/setup-python@v5
+          with:
+            python-version: '3.10'
+        - name: Build wheels
           uses: PyO3/maturin-action@v1
           with:
             target: x86_64

diff --git a/ik_python/test/test.py b/ik_python/test/test.py
@@ -43,7 +43,7 @@ def check_general_robot(self, bot):
             bot.robot.set_kinematics(kinematics)
 
             # Generate 100 random robot configurations
-            qVals = np.random.rand(20, 6) * pi + pi/2
+            qVals = np.random.rand(20, 6) * 2 * pi
             for i, q in enumerate(qVals):
                 # Get the forward kinematics result and then run inverse to see if we get the same thing
                 forward_kinematics = bot.robot.forward_kinematics(q)