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Remove unneeded mesh_inertia_calculation test expectations #2808

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Remove unneeded mesh_inertia_calculation test expectations #2808

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8 changes: 2 additions & 6 deletions test/integration/mesh_inertia_calculation.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -144,7 +144,6 @@ void cylinderColladaMeshInertiaCalculation(

// Check the Inertial Pose and Link Pose. Their world poses should be the
// same since the inertial pose relative to the link is zero.
EXPECT_EQ(link.WorldPose(*ecm).value(), worldPose(linkEntity, *ecm));
EXPECT_EQ(link.WorldInertialPose(*ecm).value(),
worldPose(linkEntity, *ecm) * gz::math::Pose3d::Zero);
}
Expand Down Expand Up @@ -221,9 +220,7 @@ void cylinderColladaMeshWithNonCenterOriginInertiaCalculation(
EXPECT_TRUE(
link.WorldInertiaMatrix(*ecm).value().Equal(inertiaMatrix, 0.005));

// Check the Inertial Pose and Link Pose
EXPECT_EQ(link.WorldPose(*ecm).value(), worldPose(linkEntity, *ecm));

// Check the Inertial Pose
// Since the height of cylinder is 2m and origin is at center of bottom face
// the center of mass (inertial pose) will be 1m above the ground
EXPECT_EQ(link.WorldInertialPose(*ecm).value(),
Expand Down Expand Up @@ -319,8 +316,7 @@ TEST(MeshInertiaCalculationTest, CylinderColladaOptimizedMeshInertiaCalculation)
ixxyyzzTol));
EXPECT_TRUE(actualIxyxzyz.Equal(
meshInertial.MassMatrix().OffDiagonalMoments(), 3.5));
// Check the Inertial Pose and Link Pose
EXPECT_EQ(link.WorldPose(*ecm).value(), worldPose(linkEntity, *ecm));
// Check the Inertial Pose
EXPECT_TRUE(link.WorldInertialPose(*ecm).value().Equal(
worldPose(linkEntity, *ecm) * gz::math::Pose3d::Zero, 1e-2));
}
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