Increase optimizer iteration number

Tentative to solve AD integration tests
ami-iit · Feb 11, 2025 · 1c4b6e5 · 1c4b6e5
1 parent cf5f4a5
commit 1c4b6e5
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/tests/test_automatic_differentiation.py b/tests/test_automatic_differentiation.py
@@ -295,6 +295,11 @@ def test_ad_integration(
 
     model = jaxsim_models_types
 
+    with model.editable(validate=False) as model:
+        model.contact_model = jaxsim.rbda.contacts.RelaxedRigidContacts.build(
+            solver_options={"maxiter": 100}
+        )
+
     _, subkey = jax.random.split(prng_key, num=2)
     data, references = get_random_data_and_references(
         model=model, velocity_representation=VelRepr.Inertial, key=subkey