Table below generated by cargo run -p multicalc-qa --bin gen_accuracy_tables; do not edit it by hand.
Model files are read with multicalc-mjcf and checked against
MuJoCo's own compile of the same file. MuJoCo defines
what an MJCF file means, so it is the reference here rather than a second reader of the same format.
The Skydio X2 states no mass properties of its own: its mass comes from the shapes it is built from — four rotor discs and a hull — with the shape settings supplied by nested default blocks. So the row checks the whole path at once: the default blocks resolve, the shapes are measured, and the results combine into one body's mass, balance point, and resistance to being spun.
MuJoCo reports a body's resistance to spinning as three numbers along the axes it happens to line up best with, plus the turn to get there; the comparison rebuilds the full nine numbers in the body's own axes first. The X2's front and rear rotors sit at different heights, so that turn is not the identity and the rebuild is doing real work.
| Operation | Equation | Tolerance | Tested Against |
|---|---|---|---|
| Menagerie skydio_x2 ingest: mass, centre of mass, inertia about the centre | body mass from 4 ellipsoid rotors (0.25 kg) + 1 ellipsoid hull (0.325 kg) | 1e-11 | MuJoCo 3.2.6 |