From b83310fde81af8a1b51bc252360695ecff83d9c5 Mon Sep 17 00:00:00 2001
From: Yuguo Shan <237990095+Mikasa0503@users.noreply.github.com>
Date: Sun, 20 Sep 2026 20:49:28 +0800
Subject: [PATCH 1/2] test: cover all simulation integrators

---
 tests/unit/test_sim.py | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/tests/unit/test_sim.py b/tests/unit/test_sim.py
index ea6b69aa..405ce524 100644
--- a/tests/unit/test_sim.py
+++ b/tests/unit/test_sim.py
@@ -228,6 +228,21 @@ def test_sim_step(n_worlds: int, n_drones: int, dynamics: Dynamics, control: Con
     sim.step(2)
 
 
+@pytest.mark.unit
+@pytest.mark.parametrize("integrator", Integrator)
+def test_sim_step_integrators(integrator: Integrator):
+    """Every integration scheme advances a default simulation without invalid state."""
+    sim = Sim(integrator=integrator, device="cpu")
+    sim.step(2)
+
+    assert jnp.all(sim.data.core.steps == 2)
+    assert jnp.all(jnp.isfinite(sim.data.states.pos))
+    assert jnp.all(jnp.isfinite(sim.data.states.quat))
+    assert jnp.all(jnp.isfinite(sim.data.states.vel))
+    assert jnp.all(jnp.isfinite(sim.data.states.ang_vel))
+    sim.close()
+
+
 @pytest.mark.unit
 def test_state_control_forwards_body_rates():
     """State control must forward the body rates of the command to the attitude controller."""

From a6795fb0a9a1d3f5d50e7124919e04c3b8e5b677 Mon Sep 17 00:00:00 2001
From: Yuguo Shan <237990095+Mikasa0503@users.noreply.github.com>
Date: Sun, 20 Sep 2026 21:56:26 +0800
Subject: [PATCH 2/2] test: validate all simulation state tensors

---
 tests/unit/test_sim.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/tests/unit/test_sim.py b/tests/unit/test_sim.py
index 405ce524..4ffa5316 100644
--- a/tests/unit/test_sim.py
+++ b/tests/unit/test_sim.py
@@ -240,6 +240,9 @@ def test_sim_step_integrators(integrator: Integrator):
     assert jnp.all(jnp.isfinite(sim.data.states.quat))
     assert jnp.all(jnp.isfinite(sim.data.states.vel))
     assert jnp.all(jnp.isfinite(sim.data.states.ang_vel))
+    assert jnp.all(jnp.isfinite(sim.data.states.force))
+    assert jnp.all(jnp.isfinite(sim.data.states.torque))
+    assert jnp.all(jnp.isfinite(sim.data.states.rotor_vel))
     sim.close()