Update test to set position of body with only translation

juan-g-bonilla · juan-g-bonilla · commit d040e41b46a1 · 2025-11-25T14:19:16.000-08:00
diff --git a/src/simulation/mujocoDynamics/_GeneralModuleFiles/_UnitTest/test_ball.xml b/src/simulation/mujocoDynamics/_GeneralModuleFiles/_UnitTest/test_ball.xml
@@ -3,7 +3,11 @@
 
 	<worldbody>
 		<body name="ball">
-			<freejoint/>
+			<!-- We can use three slider joints for translational-only scenarios -->
+			<joint name="ball_x" type="slide" axis="1 0 0"/>
+			<joint name="ball_y" type="slide" axis="0 1 0"/>
+			<joint name="ball_z" type="slide" axis="0 0 1"/>
+
 			<site name="center" />
 			<geom size="1" rgba="1 0 0 1"/>
 		</body>
diff --git a/src/simulation/mujocoDynamics/_GeneralModuleFiles/_UnitTest/test_mass_update.py b/src/simulation/mujocoDynamics/_GeneralModuleFiles/_UnitTest/test_mass_update.py
@@ -94,6 +94,10 @@ def test_continuouslyChangingMass(showPlots: bool = False):
     scSim.AddModelToTask("test", posRec)
 
     scSim.InitializeSimulation()
+
+    # initial position should not matter
+    ballBody.setPosition([0, 1, 0])
+
     scSim.ConfigureStopTime(macros.sec2nano(tf))
     scSim.ExecuteSimulation()
 
