Re-centering mass reguralizer after linear consistency solver

keenon · Nov 2, 2022 · 1f12b9c · 1f12b9c
1 parent a48a666
commit 1f12b9c
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Showing 2 changed files with 5 additions and 2 deletions.
diff --git a/dart/biomechanics/DynamicsFitter.cpp b/dart/biomechanics/DynamicsFitter.cpp
@@ -5837,6 +5837,8 @@ void DynamicsFitter::zeroLinearResidualsOnCOMTrajectory(
     s_t scalePercentage = tentativeMass / originalMass;
     init->bodyMasses *= scalePercentage;
     mSkeleton->setLinkMasses(init->bodyMasses);
+    init->groupMasses = mSkeleton->getGroupMasses();
+    init->originalGroupMasses = mSkeleton->getGroupMasses();
 
     // Calculate the trajectory of our COM over time
     adjustedComPositions

diff --git a/unittests/unit/test_DynamicsFitter.cpp b/unittests/unit/test_DynamicsFitter.cpp
@@ -1503,6 +1503,7 @@ std::shared_ptr<DynamicsInitialization> runEngine(
       DynamicsFitProblemConfig(skel)
           .setDefaults(true)
           .setIncludePoses(true)
+          .setIncludeMasses(true)
           .setIncludeBodyScales(true)
           .setIncludeMarkerOffsets(true));
 
@@ -3752,8 +3753,8 @@ TEST(DynamicsFitter, END_TO_END_SPRINTER_WITH_SPINE)
       c3dFiles,
       trcFiles,
       grfFiles,
-      200,
-      87,
+      -1,
+      0,
       true);
 }
 #endif