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Mujoco_WASM/test/engine
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Yuval Tassa 56a93979e0 Interpret position and intvelocity setpoints on 3D rotational transmissions (ball joints, site+refsite) on the circle. The force uses the setpoint representative nearest the current length for smooth tracking beyond pi. 
- Wrapping in force path is local; act is re-anchored at integration time.
- Remove hardcoded `actrange` for intvelocity actuators.

PiperOrigin-RevId: 949566477
Change-Id: I349fdf17eedfbb2174d698cc1a6a91d52810b4a3
2026-07-17 07:49:30 -07:00
..
testdata
Add geom surfacevel: zero-dof conveyors, treadmills and turntables.
2026-07-15 17:58:17 -07:00
CMakeLists.txt
Add missing tests to cmake
2026-07-10 07:24:50 -07:00
engine_cg_convergence_test.cc
Add manual test for CG converence
2026-05-31 03:15:54 -07:00
engine_collision_box_test.cc
Change LoadModelFromString to return a smart pointer, add MakeData, and update tests to have C++ RAII clean up model and data.
2026-06-22 04:19:01 -07:00
engine_collision_convex_test.cc
Enable multiccd by default.
2026-04-20 12:00:10 -07:00
engine_collision_driver_test.cc
Include gap in body_margin, fixing mid-phase pruning of in-gap contacts.
2026-07-13 05:04:55 -07:00
engine_collision_gjk_test.cc
Support arbitrary large meshes in multiccd by reusing EPA memory.
2026-07-14 08:48:25 -07:00
engine_collision_sdf_test.cc
Change LoadModelFromString to return a smart pointer, add MakeData, and update tests to have C++ RAII clean up model and data.
2026-06-22 04:19:01 -07:00
engine_core_constraint_test.cc
Add geom surfacevel: zero-dof conveyors, treadmills and turntables.
2026-07-15 17:58:17 -07:00
engine_core_smooth_test.cc
Interpret position and intvelocity setpoints on 3D rotational transmissions (ball joints, site+refsite) on the circle. The force uses the setpoint representative nearest the current length for smooth tracking beyond pi.
2026-07-17 07:49:30 -07:00
engine_core_util_test.cc
Change LoadModelFromString to return a smart pointer, add MakeData, and update tests to have C++ RAII clean up model and data.
2026-06-22 04:19:01 -07:00
engine_derivative_test.cc
Implicit flex elasticity in the CG constraint solver via an effective metric
2026-07-15 14:57:42 -07:00
engine_forward_test.cc
Apply unsymmetrized fluid derivatives to standalone free bodies in implicitfast.
2026-07-16 04:47:56 -07:00
engine_inverse_test.cc
Remove midpoint integration, superseded by free-body gyroscopic derivatives.
2026-07-15 12:07:44 -07:00
engine_io_test.cc
Change LoadModelFromString to return a smart pointer, add MakeData, and update tests to have C++ RAII clean up model and data.
2026-06-22 04:19:01 -07:00
engine_island_test.cc
Implicit flex elasticity in the CG constraint solver via an effective metric
2026-07-15 14:57:42 -07:00
engine_passive_test.cc
Support pinned flex vertices with bending
2026-07-08 04:02:31 -07:00
engine_pgs_convergence_test.cc
Add Nesterov momentum with O'Donoghue-Candès restarts to PGS solver (~2x speedup)
2026-06-23 05:52:14 -07:00
engine_plugin_test.cc
Change LoadModelFromString to return a smart pointer, add MakeData, and update tests to have C++ RAII clean up model and data.
2026-06-22 04:19:01 -07:00
engine_print_test.cc
Change LoadModelFromString to return a smart pointer, add MakeData, and update tests to have C++ RAII clean up model and data.
2026-06-22 04:19:01 -07:00
engine_ray_test.cc
Change LoadModelFromString to return a smart pointer, add MakeData, and update tests to have C++ RAII clean up model and data.
2026-06-22 04:19:01 -07:00
engine_sensor_test.cc
Calibrate float32 tolerances for several engine tests.
2026-07-14 00:51:48 -07:00
engine_setconst_test.cc
Add body/simple attribute to control simple body optimization.
2026-07-03 09:09:30 -07:00
engine_sleep_test.cc
Remove midpoint integration, superseded by free-body gyroscopic derivatives.
2026-07-15 12:07:44 -07:00
engine_solver_test.cc
Add zero-iteration early exit to the primal solvers, certified by the duality gap.
2026-07-14 17:24:08 -07:00
engine_sort_test.cc
Remove -Wno-extra-semi, add workaround for mjSORT confusing some IDEs
2025-09-18 12:28:09 -07:00
engine_support_test.cc
Change LoadModelFromString to return a smart pointer, add MakeData, and update tests to have C++ RAII clean up model and data.
2026-06-22 04:19:01 -07:00
engine_thread_test.cc
Add new mju_threadpool API function, and delete old threading API.
2026-05-28 10:11:44 -07:00
engine_util_blas_test.cc
Rename mjtnum.h to mjtype.h, move enum types to mjtype.h
2026-05-21 06:43:29 -07:00
engine_util_errmem_test.cc
Introduce new logging API, fixes #858
2026-06-11 14:36:57 -07:00
engine_util_misc_test.cc
Change mju_round to use standard round() function.
2026-07-05 10:48:13 -07:00
engine_util_solve_test.cc
Add fixed-size 6x6 dense LU factorization with benchmark.
2026-07-14 08:38:19 -07:00
engine_util_sparse_test.cc
Fix engine_util_sparse_test on MSVC
2026-07-10 18:28:23 -07:00
engine_util_spatial_test.cc
Add manual test for CG converence
2026-05-31 03:15:54 -07:00
engine_vis_visualize_test.cc
Change LoadModelFromString to return a smart pointer, add MakeData, and update tests to have C++ RAII clean up model and data.
2026-06-22 04:19:01 -07:00