def test_SetGetAngularPositionTensor_fails():
kine = Kinematic(False)
with pytest.raises(TypeError):
kine.R = 1
with pytest.raises(TypeError):
kine.R = None
with pytest.raises(ValueError):
kine.R = np.zeros(3)
with pytest.raises(ValueError):
kine.R = np.zeros((3, 3))
def test_SetGetAngularPositionTensor_standard():
kine = Kinematic()
kine.R = np.eye(3)
np.testing.assert_almost_equal(kine.R, np.eye(3))