updates tests

JuliaComputing · Oct 7, 2024 · fd57830 · fd57830
1 parent 766504e
commit fd57830
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Showing 3 changed files with 5 additions and 6 deletions.
diff --git a/src/robot/FullRobot.jl b/src/robot/FullRobot.jl
@@ -247,6 +247,7 @@ function Robot6DOF(; name, kwargs...)
 
  controlBus = ControlBus()
  end
+ push!(systems, world)
 
  eqs = [connect(axis2.flange, mechanics.axis2)
  connect(axis1.flange, mechanics.axis1)

diff --git a/test/runtests.jl b/test/runtests.jl
@@ -4,8 +4,8 @@ using Test
 using JuliaSimCompiler
 using OrdinaryDiffEq
 using LinearAlgebra
-t = Multibody.t
-D = Differential(t)
+isdefined(Main, :t) || (t = Multibody.t)
+isdefined(Main, :D) || (D = Differential(t))
 doplot() = false
 world = Multibody.world
 
@@ -1124,6 +1124,7 @@ using LinearAlgebra
 
  prob = ODEProblem(ssys, [model.joint.phi => 0], (0, 1))
  sol = solve(prob, Rodas5P(), abstol=1e-8, reltol=1e-8)
+ @test SciMLBase.successful_retcode(sol)
  # first(render(model, sol, 0, x=2.5, y=1.5, z=2.5, show_axis=true))
  # @test sol(10, idxs=model.body.body.m) ≈ 226.27 rtol=1e-3 # Values from open modelica
  # @test sol(10, idxs=model.body.body.I_11) ≈ 245.28 rtol=1e-3
@@ -1148,8 +1149,6 @@ end
 
 using LinearAlgebra, ModelingToolkit, Multibody, JuliaSimCompiler, OrdinaryDiffEq
 using Multibody.Rotations: RotXYZ
-t = Multibody.t
-D = Multibody.D
 world = Multibody.world
 
 @named joint = Multibody.Spherical(isroot=false, state=false, quat=false)

diff --git a/test/test_quaternions.jl b/test/test_quaternions.jl
@@ -198,7 +198,6 @@ end
 
 # @testset "Spherical joint with quaternion state" begin
  using LinearAlgebra, ModelingToolkit, Multibody, JuliaSimCompiler
- t = Multibody.t
  world = Multibody.world
 
 
@@ -220,7 +219,7 @@ end
  ssys = structural_simplify(irsys)
 
 
- D = Differential(t)
+ isdefined(Main, :D) || (D = Differential(t))
  # q0 = randn(4); q0 ./= norm(q0)
  # q0 = [1,0,0,0]
  prob = ODEProblem(ssys, [