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MRP Test sometimes fails with slightly violated tolerance #23
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This test has been problematic before and I often have difficulty replicating it locally. The finite-difference and analytical Jacobians should match more closely. Not sure what the best fix for this is... |
Maybe a naive question, haven't looked at the tests in detail: Why are we doing finit-diffing and not auto-diffing? Can finite-differences achieve the desired numerical accuracy? |
I think we started using finite-diff everywhere because it's easier to use than ForwardDiff. Especially when you are dealing with structures or functions that have a fixed element type (say Float64). Forward diff will pass it's own type and the function might break. |
See for example CI#299 (attempt 1).
https://github.com/dojo-sim/Dojo.jl/actions/runs/1972726645/attempts/1
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