Added tests, removed unused test functions and 1 bug fix - #74
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Hey @ThomasDuquette, Is this still current? It seems like only a few tests are failing on Ubuntu. Are they very close to passing, and we should change the epsilon? It’s only testing if the finite difference gives roughly the same as small differences multiplied by Jacobian, so it’s probably fine. |
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@gallantandre, we were waiting on the actual dynamics model from the UR5e experiments in lab to add a robust test. I guess since we don't take friction into account we could use the tests as-is with a different epsilon and fold the branch in, agree? |
gallantandre
approved these changes
Aug 14, 2026
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