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#102 showed that the symplectic integrators were broken. We did not notice that because the tests do not cover the different integrators. We should add that
I opened #142 to address this. It parametrizes test_sim_step and test_floor_penetration over all integrators and adds a free-fall convergence test that compares every integrator against a 10x higher frequency reference sim, so integration breakage like in #102 gets caught by the test suite. All unit tests pass locally (881 passed, CPU).
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alirezanaseri548 commentedon Oct 22, 2026
I opened #142 to address this. It parametrizes
test_sim_stepandtest_floor_penetrationover all integrators and adds a free-fall convergence test that compares every integrator against a 10x higher frequency reference sim, so integration breakage like in #102 gets caught by the test suite. All unit tests pass locally (881 passed, CPU).