changes to test/testdata/model.xml

PiperOrigin-RevId: 518515153 Change-Id: If645f1799a171a385248fa8196b5c41dddcc4540
2023-03-22 02:43:03 -07:00
parent a01318712c
commit 0036f4e7ee
2 changed files with 7 additions and 2 deletions
@@ -52,7 +52,7 @@ TEST_F(PipelineTest, SparseDenseEquivalent) {
  std::vector<mjtNum> qacc_sparse = AsVector(data->qacc, model->nv);

  // expect accelerations to be insignificantly different
-  mjtNum tol = 1e-12;
+  mjtNum tol = 1e-11;
  EXPECT_THAT(qacc_dense, Pointwise(DoubleNear(tol), qacc_sparse));
  // TODO: is 1e-12 larger than we expect?
  //       investigate sources of discrepancy, eliminate if possible
@@ -1,5 +1,5 @@
 <mujoco>
-  <option iterations="10" tolerance="0" gravity="-1 0 -10" jacobian="dense">
+  <option jacobian="dense" density="1.225" viscosity="1.8e-5" wind="0 0 1">
    <flag fwdinv="enable" energy="enable"/>
  </option>

@@ -103,6 +103,11 @@
      <geom type="box" size=".05 .05 .05" rgba="0 0 1 1"/>
      <site name="anchor2" pos=".05 .05 .05"/>
    </body>
+    <body name="tumbling" pos="-.2 .3 1">
+      <freejoint/>
+      <geom type="box" size=".025 .01 0.0001" pos=".025 0 0" euler="20 0 0" mass="1e-4" fluidshape="ellipsoid"/>
+      <geom type="box" size=".025 .01 0.0001" pos="-.025 0 0" euler="-19 0 0" mass="1e-4" fluidshape="ellipsoid"/>
+    </body>
  </worldbody>

  <equality>