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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/fixture.h
+25 -15
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@@ -16,7 +16,7 @@
#define MUJOCO_TEST_FIXTURE_H_
#include <csetjmp>
#include <cstdio> // IWYU pragma: keep
#include <cstdio> // IWYU pragma: keep
#include <cstdlib> // IWYU pragma: keep
#include <cstring>
#include <iomanip>
@@ -35,51 +35,63 @@
extern "C" {
MJAPI void _mjPRIVATE__set_tls_error_fn(decltype(mju_user_error));
MJAPI decltype(mju_user_error) _mjPRIVATE__get_tls_error_fn();
MJAPI decltype(mju_user_error) _mjPRIVATE__get_tls_error_fn();
}
namespace mujoco {
// Runtime scale factor for test tolerances, controlled by MJTOL_SCALE env var.
// Set MJTOL_SCALE=0 to run tests with zero tolerance and see actual residuals.
inline mjtNum MjTolScale() {
static const mjtNum scale = []() {
const char* env = std::getenv("MJTOL_SCALE");
return env ? std::atof(env) : 1.0;
}();
return scale;
}
// Precision-aware GMock matcher. Use instead of DoubleNear/FloatNear.
// Under double builds, uses double_tol. Under float builds, uses float_tol.
// Scaled by MJTOL_SCALE env var (default 1.0).
template <typename T1, typename T2>
inline auto MjNear(T1 double_tol, T2 float_tol) {
#ifdef mjUSESINGLE
return ::testing::FloatNear(static_cast<float>(float_tol));
return ::testing::FloatNear(static_cast<float>(float_tol) * MjTolScale());
#else
return ::testing::DoubleNear(static_cast<double>(double_tol));
return ::testing::DoubleNear(static_cast<double>(double_tol) * MjTolScale());
#endif
}
// Precision-aware GMock matcher (3-arg version).
// Under double builds, matches near target with double_tol.
// Under float builds, matches near target with float_tol.
// Scaled by MJTOL_SCALE env var (default 1.0).
template <typename T1, typename T2, typename T3>
inline auto MjNear(T1 target, T2 double_tol, T3 float_tol) {
#ifdef mjUSESINGLE
return ::testing::FloatNear(static_cast<float>(target),
static_cast<float>(float_tol));
static_cast<float>(float_tol) * MjTolScale());
#else
return ::testing::DoubleNear(static_cast<double>(target),
static_cast<double>(double_tol));
static_cast<double>(double_tol) * MjTolScale());
#endif
}
// Precision-aware tolerance for EXPECT_NEAR.
// Scaled by MJTOL_SCALE env var (default 1.0).
template <typename T1, typename T2>
constexpr mjtNum MjTol(T1 double_tol, T2 float_tol) {
inline mjtNum MjTol(T1 double_tol, T2 float_tol) {
#ifdef mjUSESINGLE
return static_cast<mjtNum>(float_tol);
return static_cast<mjtNum>(float_tol) * MjTolScale();
#else
return static_cast<mjtNum>(double_tol);
return static_cast<mjtNum>(double_tol) * MjTolScale();
#endif
}
// Precision-aware equality assertion: 4 ULPs in either precision.
#ifdef mjUSESINGLE
#define EXPECT_MJTNUM_EQ(a, b) EXPECT_FLOAT_EQ(a, b)
#define EXPECT_MJTNUM_EQ(a, b) EXPECT_FLOAT_EQ(a, b)
#else
#define EXPECT_MJTNUM_EQ(a, b) EXPECT_DOUBLE_EQ(a, b)
#define EXPECT_MJTNUM_EQ(a, b) EXPECT_DOUBLE_EQ(a, b)
#endif
// Installs and uninstalls error callbacks on MuJoCo that fail the currently
@@ -187,7 +199,7 @@ inline void PrintMatrix(const mjtNum* mat, int nrow, int ncol, int p = 5,
std::cerr << name << "\n";
for (int r = 0; r < nrow; r++) {
for (int c = 0; c < ncol; c++) {
mjtNum val = mat[c + r*ncol];
mjtNum val = mat[c + r * ncol];
if (val) {
std::cerr << std::fixed << std::setw(5 + p) << val << " ";
} else {
@@ -232,7 +244,6 @@ class MockFilesystem {
const unsigned char** buffer) const;
std::string FullPath(const std::string& path) const;
private:
std::string StripPrefix(const char* path) const;
static std::string PathReduce(const std::string& current_dir,
@@ -244,6 +255,5 @@ class MockFilesystem {
std::string dir_; // current directory
};
} // namespace mujoco
#endif // MUJOCO_TEST_FIXTURE_H_