diff --git a/test/yaml/problem_force_torque_inertial_dynamics_solve_test.yaml b/test/yaml/problem_force_torque_inertial_dynamics_solve_test.yaml index ed942329c602bce8073e68516a3b775dfd534a2b..312976d2f251cd860c8f221a65fefc929868d444 100644 --- a/test/yaml/problem_force_torque_inertial_dynamics_solve_test.yaml +++ b/test/yaml/problem_force_torque_inertial_dynamics_solve_test.yaml @@ -16,7 +16,11 @@ config: L: [1,1,1] time_tolerance: 0.1 tree_manager: - type: "None" + type: "TreeManagerSlidingWindow" + plugin: "core" + n_frames: 3 + n_fix_first_frames: 1 + viral_remove_empty_parent: true map: type: "MapBase" plugin: "core" @@ -44,7 +48,7 @@ config: plugin: "bodydynamics" time_tolerance: 0.1 apply_loss_function: false - unmeasured_perturbation_std: 0.00000001 + unmeasured_perturbation_std: 0.0001 state_getter: true state_priority: 1 n_propellers: 3