update final results

Author: AndreaNeumayr

test/Robot/ScenarioCollisionOnly.jl

@@ -540,8 +540,7 @@ stopTime = 13.5
 tolerance = 1e-7
 # use boxes instead of FileMesh for better performance
 if Sys.iswindows()
-    requiredFinalStates = [3.1415918452296103, 3.0247029956502424e-7, 0.6805918807359593, -0.09565685952807047, 0.7909091454335595, 0.10951995771372612, 1.0327017770452882, -0.14501110594130628, -3.613403077522777e-7, 1.7722424221528134e-7, 0.02892581810809196, -0.07918395248553552, -0.36125810000007835, -0.10904804871112947, 0.001897921781670574, -0.06875145688237284, 0.049788789706814565, -4.140738295574155e-6, -0.7842801128047748,
-    0.005105300046456846, 0.21862283801441873, -0.009658480717735566, 2.1757108400615252e-6, 0.021108086393876627, -0.1984193860002232, 0.11865862428464358, 0.02379631583255704, -3.096054388354263e-7, 0.1304890475949812, -4.4594322363919364e-7]
+    requiredFinalStates = [3.141592656083914, 3.2955210650043794e-9, 0.6805942885295763, -0.09565767441181468, 0.7909095511209971, 0.10951974347893331, 1.032702582672235, -0.14501159330773356, 4.843043035569045e-8, -5.084066106605599e-8, 9.463525418080984e-8, -0.4161958225397787, -0.3634865106392557, -0.11218698258440177, 0.00028351378391616364, -0.0687518903928338, 0.04978878983770011, -4.140566109957699e-6, -0.7842800497816398, 0.005105609550611603, 0.21862295671355367, -0.0096585351122136, 2.0689584764943053e-6, 0.02110845828012153, -0.19785528209242548, 0.1186760937422613, 0.02372051044718875, -6.533396584593705e-8, 0.13049051323039967, 4.26642489125089e-8]
 elseif Sys.isapple()
     requiredFinalStates = missing
 else
@@ -551,10 +550,10 @@ end
 
 simulate!(youbot, stopTime=stopTime, tolerance=tolerance, requiredFinalStates_rtol=0.01, requiredFinalStates_atol=0.01, log=true, logStates=false, logParameters=false, requiredFinalStates=requiredFinalStates, logEvents=false)
 
-@usingModiaPlot
-plot(youbot, [ "sphere.translation[1]",
-"sphere.translation[2]",
-"sphere.translation[3]"], reuse=true, prefix="S1: ", figure=1)
+# @usingModiaPlot
+# plot(youbot, [ "sphere.translation[1]",
+# "sphere.translation[2]",
+# "sphere.translation[3]"], reuse=true, prefix="S1: ", figure=1)
 
 # plot(youbot, [ "sphere.r_abs[1]",
 #     "sphere.r_abs[2]",

test/Segmented/ScenarioSegmentedCollisionOff.jl

@@ -569,7 +569,7 @@ youbot = @instantiateModel(youbotModel, unitless=true, logCode=false, log=false)
 stopTime = 13.5
 tolerance = 1e-7
 # use boxes instead of FileMesh for better collision performance
-requiredFinalStates = [3.1415921741564143, 1.1955106283153446e-7, 0.6805919652838498, -0.09565658114367705, 0.7909092176133838, 0.10951940810027615, 1.0327020647791874, -0.145010847265314, 2.259247708251684e-7, -1.9741430416860724e-7, 0.028546003581824412, -0.07925467651812873, -0.3613840032918982, -0.10919851158919243, 0.0016270711594961662, -0.04583765473394904, 0.047072862725141544, 0.0014855277166491237]
+requiredFinalStates = [3.1415926570363713, -1.3013458081419306e-7, 0.6805942873976024, -0.09565764991241311, 0.7909095517856483, 0.10951972995434828, 1.032702591771644, -0.14501158670555986, 5.492377676162606e-8, -5.981922191949395e-8, 7.757643552277316e-6, -0.4162469942033338, -0.3635507982892172, -0.11225051653570566, 0.0002829193229775221, -0.045836985439091864, 0.04707287716612709, 0.0014854402731197453]
 
 simulate!(youbot, stopTime=stopTime, tolerance=tolerance, requiredFinalStates_atol=0.002, log=true, logStates=false, logParameters=false, requiredFinalStates=requiredFinalStates, logEvents=false)
 

test/Segmented/ScenarioSegmentedCollisionOn.jl

@@ -567,7 +567,7 @@ youbot = @instantiateModel(youbotModel, unitless=true, logCode=false, log=false)
 stopTime = 13.5
 tolerance = 1e-7
 # use boxes instead of FileMesh for better collision performance
-requiredFinalStates = [3.141591818383938, 1.0335725977173708e-6, 0.6805919657593686, -0.09565660198844163, 0.7909092191050598, 0.10951941774642412, 1.0327020645468628, -0.14501085658793922, 2.186064148392944e-7, -1.879592613709152e-7, 0.02883998021248762, -0.07925163267233755, -0.36137151574752563, -0.1091942688913675, 0.0016238609193932954, -0.06877780254544075, 0.04978954142146488, -2.2444357924892364e-6]
+requiredFinalStates = [3.1415926561937666, 3.180307603613472e-9, 0.6805942902151595, -0.09565769212815624, 0.7909095547559756, 0.10951974466588697, 1.0327025949882498, -0.14501161390073966, 4.834365439536424e-8, -5.083589168175532e-8, 9.482986225093542e-7, -0.41623125840706904, -0.3635339629899328, -0.11224029745945692, 0.000283221896408894, -0.06877832213561617, 0.04978954930374486, -2.2467894719281828e-6]
 
 simulate!(youbot, stopTime=stopTime, tolerance=tolerance, requiredFinalStates_atol=0.002, log=true, logStates=false, logParameters=false, requiredFinalStates=requiredFinalStates, logEvents=false)
 

test/Segmented/ScenarioSegmentedOnly.jl

@@ -566,12 +566,12 @@ youbot = @instantiateModel(youbotModel, unitless=true, logCode=false, log=false)
 stopTime = 13.5
 tolerance = 1e-7
 # use boxes instead of FileMesh for better performance
-requiredFinalStates = [3.1415920364553855, 2.7428136813418614e-7, 0.6805920818714688, -0.09565666285888169, 0.790909491205814, 0.10951932389708785, 1.0327026276867144, -0.14501108875418495, 2.273931612905906e-8, -6.523005228871711e-8, 0.027854397659264934, -0.0802102064050292, -0.3629121280113591, -0.11128538667241196, 0.0008842091487311585, 6.0035452726848865e-5, 0.04800122496867457, -1.227967289312977e-6]
+requiredFinalStates = [3.1415926553482936, 3.940308425576264e-9, 0.6805942761756493, -0.0956576899775176, 0.7909095290954901, 0.10951977177943406, 1.0327025673843655, -0.14501159844620148, 1.9286175287484307e-8, -3.283069277920548e-8, -4.1609409172268536e-6, -0.41631100515552766, -0.36361306819749833, -0.1122726475747107, 0.0003657180323440799, 6.003535500656957e-5, 0.04800122492323228, -1.2243878275181126e-6]
 
 simulate!(youbot, stopTime=stopTime, tolerance=tolerance, requiredFinalStates_atol=0.002, log=true, logStates=false, logParameters=false, requiredFinalStates=requiredFinalStates, logEvents=false)
 
 
-@usingModiaPlot
+# @usingModiaPlot
 # plot(youbot, ["sphere.translation",
 #               ("youbot1.rev1.phi",
 #                "youbot1.rev2.phi",
@@ -580,11 +580,11 @@ simulate!(youbot, stopTime=stopTime, tolerance=tolerance, requiredFinalStates_at
 #                "youbot1.rev5.phi")
 #                ], figure=1)
 
-plot(youbot, [ "sphere.translation[1]",
-"sphere.translation[2]",
-"sphere.translation[3]"], reuse=true, prefix="S4: ", figure=1)
+# plot(youbot, [ "sphere.translation[1]",
+# "sphere.translation[2]",
+# "sphere.translation[3]"], reuse=true, prefix="S4: ", figure=1)
 
-plot(youbot, [ "sphere.r_abs[1]",
-    "sphere.r_abs[2]",
-    "sphere.r_abs[3]"], reuse=true, prefix="S4: ", figure=2)
+# plot(youbot, [ "sphere.r_abs[1]",
+#     "sphere.r_abs[2]",
+#     "sphere.r_abs[3]"], reuse=true, prefix="S4: ", figure=2)
 end