chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add manual test for CG converence

Browse Source 
Also add MJTOL_SCALE to fixture to allow tests to be run with zero tolerance. This is useful when assesing the impact of code changes (A/B comparison of failure values)

PiperOrigin-RevId: 924219083
Change-Id: Ifdd09ac850904ca8dd79179930ce738a4b37d284
This commit is contained in:
Yuval Tassa
2026-05-31 03:15:06 -07:00
committed by Copybara-Service
parent 50e823e91c
commit 4358a102cd
11 changed files with 512 additions and 74 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/engine/engine_util_solve_test.cc
+2 -2
View File
@@ -93,8 +93,8 @@ mjtNum objective(const mjtNum* x, const mjtNum* H, const mjtNum* g, int n) {
// utility: test if res is the minimum of a given box-QP problem
bool isQPminimum(const mjtNum* res, const mjtNum* H, const mjtNum* g, int n,
const mjtNum* lower, const mjtNum* upper) {
constexpr mjtNum eps = MjTol(1e-4, 5e-2); // epsilon used for nudging
constexpr mjtNum threshold = MjTol(0, -2e-3); // comparison threshold
const mjtNum eps = MjTol(1e-4, 5e-2); // epsilon used for nudging
const mjtNum threshold = MjTol(0, -2e-3); // comparison threshold
bool is_minimum = true;
mjtNum* res_nudge = (mjtNum*) mju_malloc(sizeof(mjtNum)*n);