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Fix bug in mj_mulM2.

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PiperOrigin-RevId: 710756899
Change-Id: I30c0725859ba0f1a59750dc89eebb9eba84fa71b
This commit is contained in:
Yuval Tassa
2024-12-30 11:14:00 -08:00
committed by Copybara-Service
parent e42370c982
commit ec322641b7
5 changed files with 178 additions and 67 deletions
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test/engine/testdata/inertia.xml
Vendored
+39
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@@ -0,0 +1,39 @@
<mujoco model="model for inertia-related tests">
<default>
<geom type="capsule" size="0.1"/>
<joint axis="0 1 0"/>
</default>
<worldbody>
<body pos="1 -.5 0" euler="10 20 30">
<geom type="box" size="0.15 .2 .25" pos=".1 .2 .3" euler="10 20 30"/>
<freejoint name="6 non-simple dofs" align="false"/>
</body>
<body pos="0 -.5 0">
<geom type="sphere" size="0.2"/>
<joint type="ball" name="3 simple dofs"/>
</body>
<body>
<geom fromto="0 0 0 0 0 1"/>
<joint/>
<body pos="0 0 1">
<geom fromto="0 0 0 1 0 1"/>
<joint/>
</body>
<body pos="0 0 1">
<geom fromto="0 0 0 -1 0 1"/>
<joint/>
<body pos="-1 0 1">
<geom fromto="0 0 0 1 0 1"/>
<joint/>
</body>
<body pos="-1 0 1">
<geom fromto="0 0 0 -1 0 1"/>
<joint/>
</body>
</body>
</body>
</worldbody>
</mujoco>