From 11527fae0972e90f7c43add6264e6ac38026ec79 Mon Sep 17 00:00:00 2001 From: Filippo Luca Ferretti Date: Fri, 18 Oct 2024 15:54:56 +0200 Subject: [PATCH] Modify simulation test to verify backward compatibility --- tests/test_simulations.py | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/tests/test_simulations.py b/tests/test_simulations.py index fb91a3d9f..e571c9062 100644 --- a/tests/test_simulations.py +++ b/tests/test_simulations.py @@ -62,6 +62,13 @@ def test_box_with_external_forces( additive=False, ) + # Create the integrator. + integrator = jaxsim.integrators.fixed_step.RungeKutta4SO3.build( + dynamics=js.ode.wrap_system_dynamics_for_integration( + model=model, data=data0, system_dynamics=js.ode.system_dynamics + ) + ) + # Initialize the integrator. tf = 0.5 T = jnp.arange(start=0, stop=tf * 1e9, step=model.time_step * 1e9, dtype=int) @@ -76,6 +83,7 @@ def test_box_with_external_forces( data, state_aux_dict = js.model.step( model=model, data=data, + integrator=integrator, integrator_state=state_aux_dict, link_forces=references.link_forces(model=model, data=data), )