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Fix COM frame composition in mjCBody::AccumulateInertia

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This commit is contained in:
gholmes829
2026-04-29 18:03:17 -05:00
parent 8ccd2b6db5
commit 0e1e0c7f96
2 changed files with 35 additions and 3 deletions
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src/user/user_objects.cc
+3 -3
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@@ -2543,9 +2543,9 @@ void mjCBody::AccumulateInertia(const mjsBody* other, mjsBody* result) {
// body_ipose = body_pose * body_ipose
double other_ipos[3];
double other_iquat[4];
mjuu_copyvec(other_ipos, other->ipos, 3);
mjuu_copyvec(other_iquat, other->iquat, 4);
mjuu_frameaccum(other_ipos, other_iquat, other->pos, other->quat);
mjuu_copyvec(other_ipos, other->pos, 3);
mjuu_copyvec(other_iquat, other->quat, 4);
mjuu_frameaccum(other_ipos, other_iquat, other->ipos, other->iquat);
// organize data
double mass[2] = {