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/pipeline_test.cc
+1 -1
View File
@@ -42,7 +42,7 @@ TEST_F(PipelineTest, SparseDenseEquivalent) {
ASSERT_THAT(model, NotNull()) << error;
mjData* data = mj_makeData(model);
constexpr mjtNum tol = MjTol(1e-11, 1e-4);
const mjtNum tol = MjTol(1e-11, 1e-4);
const char* sname[4] = {"NEWTON", "PGS", "CG", "NOSLIP"};
mjtSolver solver[4] = {mjSOL_NEWTON, mjSOL_PGS, mjSOL_CG, mjSOL_NEWTON};