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Add test for rotational Jacobian formula used in weld constraints

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PiperOrigin-RevId: 470947389
Change-Id: I39b9495e3e6d6cf8994e603d6eb69e3e5322e734
This commit is contained in:
Yuval Tassa
2022-08-30 03:42:20 -07:00
committed by Copybara-Service
parent 6b6fff69ba
commit eb65273fa1
3 changed files with 169 additions and 4 deletions
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test/engine/CMakeLists.txt
+3
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@@ -18,6 +18,9 @@ target_link_libraries(engine_collision_convex_test fixture gmock)
mujoco_test(engine_collision_driver_test)
target_link_libraries(engine_collision_driver_test fixture gmock)
mujoco_test(engine_core_constraint_test)
target_link_libraries(engine_core_constraint_test fixture gmock)
mujoco_test(engine_core_smooth_test)
target_link_libraries(engine_core_smooth_test fixture gmock)