Fix ee_inertia override writing invalid MJCF attribute "ipos" - #100
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combine_arm_and_gripper_xml() wrote the end-effector center of mass as <inertial ipos="..."> but MJCF's <inertial> element names it "pos", so any get_yam_robot(..., ee_inertia=...) call failed at model construction with "XML Error: Schema violation: unrecognized attribute: 'ipos'". Write "pos" instead, update the XML-level test to expect "pos", and add a test that compiles the overridden model in MuJoCo and checks the resulting gripper mass and center of mass for every arm/gripper combination (the existing test only inspected XML text, so it could not catch this). Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01CvajU7exuGGR1wreVadnX1
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Fixes #99.
combine_arm_and_gripper_xml()wrote theee_inertiacenter of mass as<inertial ipos="...">; MJCF's<inertial>usespos, so anyee_inertiaoverride failed at model construction withXML Error: Schema violation: unrecognized attribute: 'ipos'.Changes
i2rt/robots/utils.py: writeposinstead ofipos(one line).test_combine_xml_with_custom_ee_mass_inertia: expectpos(and assertiposis absent).test_custom_ee_inertia_compiles_in_mujoco: compiles the overridden model for every arm/gripper combo and checks the compiled gripper mass andbody_ipos. The existing test only inspected XML text, which is how this slipped through.Testing
unrecognized attribute: 'ipos'); with it,test_assembly.pypasses (151) and the full suite passes:uv run pytest -n auto→ 710 passed, 2 skipped.ruff check/ruff format --checkclean on the changed files.get_yam_robot(..., ee_inertia=...).🤖 Generated with Claude Code
https://claude.ai/code/session_01CvajU7exuGGR1wreVadnX1