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Add manual test for CG converence

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Also add MJTOL_SCALE to fixture to allow tests to be run with zero tolerance. This is useful when assesing the impact of code changes (A/B comparison of failure values)

PiperOrigin-RevId: 924219083
Change-Id: Ifdd09ac850904ca8dd79179930ce738a4b37d284
This commit is contained in:
Yuval Tassa
2026-05-31 03:15:06 -07:00
committed by Copybara-Service
parent 50e823e91c
commit 4358a102cd
11 changed files with 512 additions and 74 deletions
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test/engine/engine_passive_test.cc
+4 -4
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@@ -297,7 +297,7 @@ TEST_F(EllipsoidFluidTest, GeomsEquivalentToBodies) {
d1->qpos[6] = 0.5;
// tolerance for floating point numbers
constexpr mjtNum tol = MjTol(1e-14, 1e-5);
const mjtNum tol = MjTol(1e-14, 1e-5);
EXPECT_EQ(m1->nv, m2->nv);
@@ -552,7 +552,7 @@ TEST_F(ElasticityTest, ElasticEnergyMembrane) {
energy += metric[21*t+idx++] * elong1 * elong2 * (e1 == e2 ? 1. : 2.);
}
}
constexpr mjtNum tol = MjTol(std::numeric_limits<float>::epsilon(), 1e-5);
const mjtNum tol = MjTol(std::numeric_limits<float>::epsilon(), 1e-5);
EXPECT_NEAR(4*energy/volume, 2*scale*scale, tol);
}
}
@@ -603,7 +603,7 @@ TEST_F(ElasticityTest, ElasticEnergySolid) {
energy += metric[21*t+idx++] * elong1 * elong2 * (e1 == e2 ? 1. : 2.);
}
}
constexpr mjtNum tol = MjTol(std::numeric_limits<float>::epsilon(), 1e-4);
const mjtNum tol = MjTol(std::numeric_limits<float>::epsilon(), 1e-4);
EXPECT_NEAR(energy/volume, 3*scale*scale, tol);
}
}
@@ -1019,7 +1019,7 @@ TEST_F(ElasticityTest, InterpBendingRigidRotationInvariance) {
mj_forward(m, d);
// spring forces should still be zero after rigid rotation
constexpr mjtNum tol = MjTol(1e-6, 1e-3);
const mjtNum tol = MjTol(1e-6, 1e-3);
for (int i = 0; i < m->nv; i++) {
EXPECT_NEAR(d->qfrc_spring[i], 0, tol)
<< "nonzero spring force at DOF " << i << " after rigid rotation";