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

Replace margin/gap max with sum.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
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];