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Add per-body gravity compensation (buoyancy) passive force.

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PiperOrigin-RevId: 485342531
Change-Id: Icb3e6bb5080b6ef17a3d3b1cc67e0503cfeaeffb
This commit is contained in:
Kyle Bayes
2022-11-01 09:47:13 -07:00
committed by Copybara-Service
parent c7960385be
commit 23092a11d7
18 changed files with 233 additions and 10 deletions
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test/xml/xml_native_writer_test.cc
+16
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@@ -557,6 +557,22 @@ TEST_F(XMLWriterTest, KeepsForcelimitedFalse) {
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, WritesGravComp) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body gravcomp=".25">
</body>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("gravcomp=\"0.25\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, UndefinedMassDensity) {
static constexpr char xml[] = R"(
<mujoco>