updates tests

Author: baggepinnen

src/robot/FullRobot.jl

@@ -246,6 +246,7 @@ function Robot6DOF(; name, kwargs...)
 
         controlBus = ControlBus()
     end
+    push!(systems, world)
 
     eqs = [connect(axis2.flange, mechanics.axis2)
            connect(axis1.flange, mechanics.axis1)

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
 W(args...; kwargs...) = Multibody.world
@@ -966,7 +966,6 @@ connections = [connect(world.frame_b, rope.frame_a)
 # ssys = structural_simplify(model, allow_parameter = false)
 
 @time "Simplify flexible rope pendulum" ssys = structural_simplify(IRSystem(flexible_rope))
-D = Differential(t)
 prob = ODEProblem(ssys, [
     # D.(D.(collect(rope.r))) .=> 0;
     collect(body.r_0) .=> [1,1,1];
@@ -1111,7 +1110,7 @@ end
 # ==============================================================================
 using LinearAlgebra
 
-# @testset "BodyBox" begin
+@testset "BodyBox" begin
     # NOTE: r = [0,1,0] yields unstable simulation due to the commented branch in from_nxy: if n_z_aux' * n_z_aux > 1.0e-6
     # NOTE: for r=[0,0,1], r_shape=[0.1, 0, 0] the render of the box appears to have negative gravity
     @info "Testing BodyBox"
@@ -1133,6 +1132,7 @@ 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
@@ -1151,14 +1151,12 @@ using LinearAlgebra
     # @test sol(10, idxs=model.joint.phi) ≈ -2.0992 atol=1e-2
     # @test sol(10, idxs=model.body.body.I_31) ≈ -42.39 rtol=1e-3
 # using Plots; plot(sol)
-# end
+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)

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, [