stopped testing qpalm and modified test_attached_get_out_of_collision…

…_and_stay_in_hard_threshold
SemRoCo · Nov 28, 2024 · afe2a53 · afe2a53
1 parent 146792a
commit afe2a53
Show file tree

Hide file tree

Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/.github/workflows/reusable_robot_ci.yml b/.github/workflows/reusable_robot_ci.yml
@@ -45,7 +45,7 @@ jobs:
     runs-on: ubuntu-20.04
     strategy:
       matrix:
-        qp_solver: [qpalm, qpSWIFT]
+        qp_solver: [qpSWIFT]
     env:
       QP_SOLVER: ${{ matrix.qp_solver }}
     steps:

diff --git a/test/test_integration_pr2.py b/test/test_integration_pr2.py
@@ -3563,7 +3563,8 @@ def test_attached_get_out_of_collision_and_stay_in_hard_threshold(self, box_setu
         p.pose.position.x = 0.08
         p.pose.orientation.w = 1
         box_setup.set_cart_goal(p, box_setup.r_tip, box_setup.default_root, add_monitor=False)
-        box_setup.execute()
+        box_setup.set_max_traj_length(10)
+        box_setup.execute(add_local_minimum_reached=False, expected_error_type=MaxTrajectoryLengthException)
         box_setup.check_cpi_geq([attached_link_name], -0.005)
         box_setup.check_cpi_leq([attached_link_name], 0.01)
         box_setup.detach_group(attached_link_name)