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Co-authored-by: Dominic Reber <71256590+domire8@users.noreply.github.com>
aica-technology · Oct 18, 2024 · 9b7ae7e · 9b7ae7e
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -18,9 +18,8 @@ Release Versions
 
 ## Upcoming changes (in development)
 
-- feat(state-representation): add utilities for CartesianStateVariable (#195)
-- feat(state-representation): add utilities for JointStateVariable (#197)
-- test(state-representation): add utility tests for Cartesian/JointState (#201)
+- feat(state-representation): add utilities for CartesianStateVariable (#195, #201)
+- feat(state-representation): add utilities for JointStateVariable (#197, #201)
 
 ## 9.0.0
 

diff --git a/python/test/state_representation/space/cartesian/test_cartesian_state.py b/python/test/state_representation/space/cartesian/test_cartesian_state.py
@@ -1015,7 +1015,7 @@ def test_utilities(self):
         self.assertTrue((state.get_state_variable(CartesianStateVariable.POSITION) == [4.0, 5.0, 6.0]).all())
 
         state.set_state_variable(np.array([7.0, 8.0, 9.0]), CartesianStateVariable.POSITION)
-        self.assertTrue((state.get_state_variable(CartesianStateVariable.POSITION) == [7.0, 8.0, 9.0]).all())
+        self.assertTrue((state.get_position() == [7.0, 8.0, 9.0]).all())
 
 if __name__ == '__main__':
     unittest.main()
diff --git a/python/test/state_representation/space/joint/test_joint_state.py b/python/test/state_representation/space/joint/test_joint_state.py
@@ -486,7 +486,7 @@ def test_utilities(self):
         self.assertTrue((state.get_state_variable(JointStateVariable.POSITIONS) == [4.0, 5.0, 6.0]).all())
 
         state.set_state_variable(np.array([7.0, 8.0, 9.0]), JointStateVariable.POSITIONS)
-        self.assertTrue((state.get_state_variable(JointStateVariable.POSITIONS) == [7.0, 8.0, 9.0]).all())
+        self.assertTrue((state.get_positions() == [7.0, 8.0, 9.0]).all())
 
 if __name__ == '__main__':
     unittest.main()