Change parameters of movep test to make it work on a ur20

urfeex · urfeex · commit f03596088e66 · 2025-04-04T15:37:11.000+02:00
diff --git a/tests/test_instruction_executor.cpp b/tests/test_instruction_executor.cpp
@@ -368,7 +368,7 @@ TEST_F(InstructionExecutorTest, movep_succeeds)
   // move to a feasible starting pose
   ASSERT_TRUE(executor_->moveJ({ -1.57, -1.6, 1.6, -0.7, 0.7, 0.2 }));
 
-  ASSERT_TRUE(executor_->moveP({ -0.203, 0.263, 0.559, 0.68, -1.083, -2.076 }, 2.0, 2.0));
+  ASSERT_TRUE(executor_->moveP({ -0.203, 0.363, 0.759, 0.68, -1.083, -2.076 }, 1.0, 1.0));
 }
 
 TEST_F(InstructionExecutorTest, movec_succeeds)

Original file line number	Diff line number	Diff line change
`@@ -368,7 +368,7 @@ TEST_F(InstructionExecutorTest, movep_succeeds)`
`368`	`368`	`// move to a feasible starting pose`
`369`	`369`	`ASSERT_TRUE(executor_->moveJ({ -1.57, -1.6, 1.6, -0.7, 0.7, 0.2 }));`
`370`	`370`
`371`		`- ASSERT_TRUE(executor_->moveP({ -0.203, 0.263, 0.559, 0.68, -1.083, -2.076 }, 2.0, 2.0));`
	`371`	`+ ASSERT_TRUE(executor_->moveP({ -0.203, 0.363, 0.759, 0.68, -1.083, -2.076 }, 1.0, 1.0));`
`372`	`372`	`}`
`373`	`373`
`374`	`374`	`TEST_F(InstructionExecutorTest, movec_succeeds)`