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Consolidate the unreflected axis baseline test #120

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Merged
kou merged 1 commit into from
Nov 4, 2026
Merged

Consolidate the unreflected axis baseline test #120

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13 changes: 5 additions & 8 deletions test/test_transforms.py
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Original file line number Diff line number Diff line change
Expand Up @@ -94,10 +94,13 @@ def test_oblique_axis_keeps_in_plane_components(self):
self.assertEqual(float(joint.find('limit').get('upper')), 0.4)

def test_oblique_revolute_motion_matches_reflected_pose(self):
right = expand((0.36, -0.48, 0.8))
axis = (0.36, -0.48, 0.8)
right = expand(axis)
self.assertEqual(tuple(float(value) for value in
right.find('axis').get('xyz').split()), axis)
for reflect, position in itertools.product(REFLECTIONS[1:], [-0.3, 0, 0.7]):
with self.subTest(reflect=reflect, position=position):
left = expand((0.36, -0.48, 0.8), reflect, True)
left = expand(axis, reflect, True)
signs = (*reflect, 1)
reflection = [[float(signs[i]) if i == j else 0.
for j in range(4)] for i in range(4)]
Expand Down Expand Up @@ -139,12 +142,6 @@ def test_principal_axes_and_existing_limit_policy_are_preserved(self):
self.assertEqual(float(joint.find('limit').get('effort')), 7)
self.assertEqual(float(joint.find('limit').get('velocity')), 3)

def test_no_reflection_preserves_oblique_axis(self):
axis = (0.36, -0.48, 0.8)
joint = expand(axis)
self.assertEqual(tuple(float(v)
for v in joint.find('axis').get('xyz').split()), axis)


if __name__ == '__main__':
unittest.main()
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