From fd578308f52b09ae9f8534ce00d0e4eff91a293f Mon Sep 17 00:00:00 2001
From: Fredrik Bagge Carlson <baggepinnen@gmail.com>
Date: Mon, 30 Sep 2024 06:37:58 +0200
Subject: [PATCH] updates tests

---
 src/robot/FullRobot.jl   | 1 +
 test/runtests.jl         | 7 +++----
 test/test_quaternions.jl | 3 +--
 3 files changed, 5 insertions(+), 6 deletions(-)

diff --git a/src/robot/FullRobot.jl b/src/robot/FullRobot.jl
index 983f48de..b988a073 100644
--- 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
index 846f072e..0124a47c 100644
--- 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
index 28c87b64..103d5ccb 100644
--- 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, [