test_MJJointReactionForces

test_MJJointReactionForces.test_MJJointReactionForces(modelName, xml, jointTreeIdx, jointParentBodyIdx, jointTypes, jointDOFStart)[source]

Validation Test Description

This test sets up a MuJoCo simulation to extract the reaction forces and torques acting on the joints

Test Parameters

The system geometry is varied between tests.

Parameters:

  • modelName (str) – the model of the spacecraft for this parameterized unit test

  • xml (str) – the XML name for the spacecraft model

  • jointTreeIdx (list) – the expected kinematic tree indices for each joint

  • jointParentBodyIdx (list) – the expected parent body indices for each joint

  • jointTypes (list) – the expected joint types in the model

  • jointDOFStart (list) – the expected starting degrees of freedom for each joint

Description of Variables Being Tested

In this test we are checking the system properties and the reaction force and torque values to ensure they are accurate