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[LMMTM] Fix flaky test #152

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[LMMTM] Fix flaky test #152

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19 changes: 10 additions & 9 deletions test/test_adapters/test_multi_sim.py
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Original file line number Diff line number Diff line change
Expand Up @@ -453,7 +453,6 @@ def test_write_objects_to_multi_sim_in_10s_with_pause_and_unpause(self):
multi_sim.stop_simulation()
self.assertAlmostEqual(time.time() - start_time, 10.0, delta=0.1)

@unittest.skip("Seems to be flaky. Please fix mr giang.")
def test_stable(self):
write_objects = {
"box": {"position": [0.0, 0.0, 0.0], "quaternion": [1.0, 0.0, 0.0, 0.0]}
Expand All @@ -474,6 +473,7 @@ def test_stable(self):
[[1.0, 1.0, 0.02], [0.5, 0.5, 0.5, 0.5]],
[[0.0, 1.0, 0.03], [0.0, 0.707, 0.707, 0.0]],
]
fail_count = 0
for _ in range(100):
for stable_box_pose in stable_box_poses:
write_objects["box"]["position"] = stable_box_pose[0]
Expand All @@ -482,11 +482,11 @@ def test_stable(self):
multi_sim.set_write_objects(write_objects=write_objects)
multi_sim.set_write_objects(write_objects={})
multi_sim.unpause_simulation()
self.assertTrue(
multi_sim.is_stable(
body_names=["box"], max_simulation_steps=1000, atol=1e-3
)

fail_count += not multi_sim.is_stable(
body_names=["box"], max_simulation_steps=1000, atol=1e-3
)
self.assertLess(fail_count, 10) # Allow less than 10% failure

unstable_box_poses = [
[[0.0, 0.0, 1.03], [1.0, 0.0, 0.0, 0.0]],
Expand All @@ -495,6 +495,7 @@ def test_stable(self):
[[0.0, 1.0, 1.03], [0.0, 0.707, 0.707, 0.0]],
[[0.0, 0.0, 1.03], [1.0, 0.0, 0.0, 0.0]],
]
fail_count = 0
for _ in range(100):
for unstable_box_pose in unstable_box_poses:
write_objects["box"]["position"] = unstable_box_pose[0]
Expand All @@ -503,11 +504,11 @@ def test_stable(self):
multi_sim.set_write_objects(write_objects=write_objects)
multi_sim.set_write_objects(write_objects={})
multi_sim.unpause_simulation()
self.assertFalse(
multi_sim.is_stable(
body_names=["box"], max_simulation_steps=1000, atol=1e-3
)
fail_count += multi_sim.is_stable(
body_names=["box"], max_simulation_steps=1000, atol=1e-3
)
self.assertLess(fail_count, 10) # Allow less than 10% failure

multi_sim.stop_simulation()


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