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Accumulate inertial in mjs_bodyToFrame.

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PiperOrigin-RevId: 765129145
Change-Id: Ib7caca42ef4272ebe762655eee9380dae471be7f
This commit is contained in:
Alessio Quaglino
2025-05-30 04:09:37 -07:00
committed by Copybara-Service
parent f72a175a2c
commit 7932b4b202
4 changed files with 128 additions and 71 deletions
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test/user/user_api_test.cc
+30
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@@ -1622,6 +1622,36 @@ TEST_F(MujocoTest, BodyToFrame) {
mj_deleteModel(expected);
}
TEST_F(MujocoTest, BodyToFrameWithInertial) {
static constexpr char xml_child[] = R"(
<mujoco>
<worldbody>
<body name="parent">
<body name="child">
<inertial mass="1" pos="0 0 0" quat="1 0 0 0" diaginertia="1 2 3"/>
</body>
</body>
</worldbody>
</mujoco>)";
std::array<char, 1000> er;
mjSpec* spec = mj_parseXMLString(xml_child, 0, er.data(), er.size());
EXPECT_THAT(spec, NotNull()) << er.data();
mjModel* model = mj_compile(spec, 0);
EXPECT_THAT(model, NotNull());
mjsBody* parent = mjs_findBody(spec, "parent");
EXPECT_THAT(parent, NotNull());
mjsBody* child = mjs_findBody(spec, "child");
EXPECT_THAT(child, NotNull());
mjs_bodyToFrame(&child);
EXPECT_THAT(parent->mass, 1);
EXPECT_THAT(parent->fullinertia[0], 1);
EXPECT_THAT(parent->fullinertia[1], 2);
EXPECT_THAT(parent->fullinertia[2], 3);
mj_deleteSpec(spec);
mj_deleteModel(model);
}
TEST_F(MujocoTest, AttachSpecToSite) {
std::array<char, 1000> er;
mjtNum tol = 0;