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Replace margin/gap max with sum.

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PiperOrigin-RevId: 868842521
Change-Id: Ia4a4ca5c6821c5a7b3ba7b0af7f71d981c2866c1
This commit is contained in:
Yuval Tassa
2026-02-11 14:21:37 -08:00
committed by Copybara-Service
parent 336e1026a4
commit 6af0d4c823
9 changed files with 61 additions and 30 deletions
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test/engine/engine_collision_driver_test.cc
+33
View File
@@ -357,5 +357,38 @@ TEST_F(MjCollisionTest, PinchingSucceeds) {
mj_deleteModel(m);
}
TEST_F(MjCollisionTest, MarginSumming) {
// Two spheres with size 0.1, placed 0.21 apart (distance of 0.01).
// With margin summing, margin1 + margin2 = 0.00999 + 0.00999 = 0.01998 > 0.01
// so a contact should be generated.
constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom name="sphere1" type="sphere" size=".1" margin="0.00999"/>
<joint type="slide" axis="1 0 0"/>
</body>
<body pos=".21 0 0">
<geom name="sphere2" type="sphere" size=".1" margin="0.00999"/>
<joint type="slide" axis="1 0 0"/>
</body>
</worldbody>
</mujoco>
)";
char error[1024];
mjModel* m = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(m, NotNull()) << error;
mjData* d = mj_makeData(m);
ASSERT_THAT(d, NotNull());
mj_fwdPosition(m, d);
// With margin summing, we expect 1 contact
EXPECT_EQ(d->ncon, 1);
mj_deleteData(d);
mj_deleteModel(m);
}
} // namespace
} // namespace mujoco
test/engine/engine_solver_test.cc
+3 -3
View File
@@ -57,15 +57,15 @@ TEST_F(SolverTest, IslandsEquivalent) {
mjData* data_noisland = mj_makeData(model);
// Below are 3 tolerances associated with 3 different iteration counts,
// they are only moderately tight, 10x higher than x86-64 failure on Linux,
// i.e. in that case the test fails with rtol smaller than {5e-3, 5e-4, 5e-5}.
// they are only moderately tight, 12x higher than x86-64 failure on Linux,
// i.e. in that case the test fails with rtol smaller than {6e-3, 6e-4, 6e-5}.
// The point of this test is to show that CG convergence is actually not very
// precise, simply changing whether islands are used changes the solution by
// quite a lot, even at high iteration count and zero {ls_}tolerance.
// Increasing the iteration count higher than 60 does not improve convergence.
constexpr int kNumTol = 3;
mjtNum maxiter[kNumTol] = {30, 40, 60};
mjtNum rtol[kNumTol] = {5e-2, 5e-3, 5e-4};
mjtNum rtol[kNumTol] = {6e-2, 6e-3, 6e-4};
for (int i = 0; i < kNumTol; ++i) {
model->opt.iterations = maxiter[i];