Fix tests

tests/test_scenario/test_pid_controllers.py

@@ -45,15 +45,19 @@ def test_position_pid(default_world: Tuple[scenario.GazeboSimulator, scenario.Wo
     assert world.insert_model(panda_urdf)
     assert "panda" in world.model_names()
 
+    # Get the model and cast it to Gazebo
+    panda = world.get_model("panda").to_gazebo()
+
+    # Disable any velocity and torque limits of the model
+    _ = [j.set_velocity_limit(np.finfo(float).max) for j in panda.joints()]
+    _ = [j.set_max_generalized_force(np.finfo(float).max) for j in panda.joints()]
+
     # Show the GUI
     # import time
     # gazebo.gui()
     # gazebo.run(paused=True)
     # time.sleep(3)
 
-    # Get the model and cast it to Gazebo
-    panda = world.get_model("panda").to_gazebo()
-
     # Reset joint1 to its middle position
     joint1 = panda.get_joint("panda_joint1").to_gazebo()
     joint1_range = np.abs(joint1.position_limit().max - joint1.position_limit().min)

tests/test_scenario/test_velocity_direct.py

@@ -38,6 +38,11 @@ def test_velocity_direct(
     # Get the model and cast it to Gazebo
     pendulum = world.get_model("pendulum").to_gazebo()
 
+    # Disable any velocity (and torque) limits of the model, otherwise the velocity
+    # cannot change too abruptly
+    _ = [j.set_velocity_limit(np.finfo(float).max) for j in pendulum.joints()]
+    _ = [j.set_max_generalized_force(np.finfo(float).max) for j in pendulum.joints()]
+
     # Add some friction
     assert pendulum.get_joint("pivot").to_gazebo().set_coulomb_friction(value=0.01)
     assert pendulum.get_joint("pivot").to_gazebo().set_viscous_friction(value=0.2)
@@ -76,12 +81,9 @@ def test_velocity_direct(
     # Check again
     assert pivot.velocity() == pytest.approx(np.pi)
 
-    # Change direction abruptly.
-    # Due to existing joint velocity limits, it takes two steps to reach the target.
-    # Note: even by increasing the limit to its maximum value, two steps are necessary.
+    # Change direction abruptly
     assert pivot.set_velocity_target(velocity=-np.pi)
     assert gazebo.run()
-    assert gazebo.run()
     assert pivot.velocity() == pytest.approx(-np.pi)
 
     # Go in idle and make it swing