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Reduce simulation steps in MjCollisionTest.PinchingSucceeds.

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PiperOrigin-RevId: 868229821
Change-Id: I781955a8f06ca2338baa713ff6a3448b4743b35e
This commit is contained in:
Alessio Quaglino
2026-02-10 11:03:58 -08:00
committed by Copybara-Service
parent 3ec09f7296
commit 419b96cb91
1 changed files with 3 additions and 3 deletions
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test/engine/engine_collision_driver_test.cc
+3 -3
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@@ -313,21 +313,21 @@ TEST_F(MjCollisionTest, PinchingSucceeds) {
// The cloth is at z=0.1. We need to lower the gripper so the fingertips
// reach the cloth. A lift value of -0.35 places the fingertips near z=0.05.
for (int i = 0; i < 1000; ++i) {
for (int i = 0; i < 500; ++i) {
d->ctrl[lift_id] = -0.35; // Lower
d->ctrl[grasp_id] = 0; // Open
mj_step(m, d);
}
// Phase 2: Pinch
for (int i = 0; i < 1000; ++i) {
for (int i = 0; i < 100; ++i) {
d->ctrl[lift_id] = -0.35; // Hold height
d->ctrl[grasp_id] = 0.8; // Close (max 1)
mj_step(m, d);
}
// Phase 3: Lift
for (int i = 0; i < 2000; ++i) {
for (int i = 0; i < 1000; ++i) {
d->ctrl[lift_id] = 0.5; // Lift up
d->ctrl[grasp_id] = 0.8; // Keep closed
mj_step(m, d);