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

Make island discovery compatible with flex

Browse Source 
PiperOrigin-RevId: 777490642
Change-Id: Iae2f4e8297cc24bded833e04ebfe32895f3a5460
This commit is contained in:
Yuval Tassa
2025-06-30 03:15:27 -07:00
committed by Copybara-Service
parent c945247e7c
commit 57b3d6d0f4
4 changed files with 58 additions and 51 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/engine/engine_island_test.cc
+26 -3
View File
@@ -28,12 +28,11 @@
namespace mujoco {
namespace {
using ::testing::DoubleNear;
using ::testing::ElementsAre;
using ::testing::Pointwise;
using IslandTest = MujocoTest;
std::vector<int> AsVector(const int* array, int n) {
return std::vector<int>(array, array + n);
}
TEST_F(IslandTest, FloodFillSingleton) {
// adjacency matrix for the graph 0 1 2
@@ -368,6 +367,30 @@ TEST_F(IslandTest, IslandEfc) {
mj_deleteModel(model);
}
TEST_F(IslandTest, IslandFlex) {
const std::string xml_path = GetTestDataFilePath("testdata/flex.xml");
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
mjData* data1 = mj_makeData(model);
mjData* data2 = mj_makeData(model);
model->opt.enableflags |= mjENBL_ISLAND;
while (data1->time < 0.2) {
mj_step(model, data1);
}
model->opt.enableflags &= ~mjENBL_ISLAND;
while (data2->time < 0.2) {
mj_step(model, data2);
}
EXPECT_THAT(AsVector(data1->qpos, model->nq),
Pointwise(DoubleNear(1e-6), AsVector(data2->qpos, model->nq)));
mj_deleteData(data2);
mj_deleteData(data1);
mj_deleteModel(model);
}
static const char* const k2H100Path = "engine/testdata/island/2humanoid100.xml";
TEST_F(IslandTest, IslandJacobian) {