From 646455406c42213964ef9708791dc543716c76e3 Mon Sep 17 00:00:00 2001 From: Taylor Howell Date: Wed, 28 Aug 2024 07:06:15 -0700 Subject: [PATCH] Fix changelog by moving bug fix to proper section. PiperOrigin-RevId: 668435872 Change-Id: I9042eb3f119cc778675944e7cfb8f6be0e9379b2 --- doc/changelog.rst | 4 ++-- test/engine/engine_util_misc_test.cc | 1 + 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/doc/changelog.rst b/doc/changelog.rst index 750b7525..3fafab30 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -25,8 +25,6 @@ General parent model, but only on the first attachment. - Added the :ref:`mjtSameFrame` enum which contains the possible frame alignments of bodies and their children. These alignments are used as shortcuts in :ref:`mj_kinematics`. -- Fixed a bug in tendon wrapping around spheres. Before this fix, tendons that wrapped around spheres with an - externally-placed :ref:`sidesite` could jump inside the sphere instead of wrapping around it. MJX ^^^ @@ -47,6 +45,8 @@ Bug fixes contribution by :github:user:`michael-ahn`). - Fixed a bug wherein, for models that have both muscles and stateless actuators and used one of the implicit integrators, wrong derivatives would be computed. +- Fixed a bug in tendon wrapping around spheres. Before this fix, tendons that wrapped around spheres with an + externally-placed :ref:`sidesite` could jump inside the sphere instead of wrapping around it. Python bindings ^^^^^^^^^^^^^^^ diff --git a/test/engine/engine_util_misc_test.cc b/test/engine/engine_util_misc_test.cc index bf785a00..20ff0512 100644 --- a/test/engine/engine_util_misc_test.cc +++ b/test/engine/engine_util_misc_test.cc @@ -132,6 +132,7 @@ TEST_F(UtilMiscTest, SphereWrap) { mj_forward(model, data); mjtNum ten_length1 = data->sensordata[0]; + // difference should be small mjtNum diff = ten_length1 - ten_length0; EXPECT_LT(mju_abs(diff), 1e-3);