[RayTest] fix wrongly added feature from other pull request.

cram2 · Feb 11, 2025 · 8b782e1 · 8b782e1
1 parent 34e6dfc
commit 8b782e1
Show file tree

Hide file tree

Showing 2 changed files with 5 additions and 6 deletions.
diff --git a/test/test_designator/test_action_designator.py b/test/test_designator/test_action_designator.py
@@ -9,8 +9,7 @@
 from pycram.robot_description import RobotDescription
 from pycram.process_module import simulated_robot
 from pycram.datastructures.pose import Pose
-from pycram.datastructures.enums import ObjectType, Arms, GripperState, Grasp, DetectionTechnique, TorsoState, \
-    StaticJointState
+from pycram.datastructures.enums import ObjectType, Arms, GripperState, Grasp, DetectionTechnique, TorsoState
 from pycram.testing import  BulletWorldTestCase
 import numpy as np
 
@@ -57,10 +56,10 @@ def test_park_arms(self):
         with simulated_robot:
             description.resolve().perform()
         for joint, pose in RobotDescription.current_robot_description.get_static_joint_chain("right",
-                                                                                             StaticJointState.Park).items():
+                                                                                             "park").items():
             joint_position = self.world.robot.get_joint_position(joint)
             self.assertEqual(joint_position, pose)
-        for joint, pose in RobotDescription.current_robot_description.get_static_joint_chain("left", StaticJointState.Park).items():
+        for joint, pose in RobotDescription.current_robot_description.get_static_joint_chain("left", "park").items():
             self.assertEqual(self.world.robot.get_joint_position(joint), pose)
 
     def test_navigate(self):

diff --git a/test/test_language.py b/test/test_language.py
@@ -224,10 +224,10 @@ def test_perform_desig(self):
         self.assertEqual(self.robot.get_pose(), Pose([0.3, 0.3, 0]))
         self.assertEqual(self.robot.get_joint_position("torso_lift_joint"), 0.3)
         for joint, pose in RobotDescription.current_robot_description.get_static_joint_chain("right",
-                                                                                             StaticJointState.Park).items():
+                                                                                             "park").items():
             self.assertEqual(self.world.robot.get_joint_position(joint), pose)
         for joint, pose in RobotDescription.current_robot_description.get_static_joint_chain("left",
-                                                                                             StaticJointState.Park).items():
+                                                                                             "park").items():
             self.assertEqual(self.world.robot.get_joint_position(joint), pose)
 
     def test_perform_code(self):