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Calibrate float32 tolerances for several engine tests.

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PiperOrigin-RevId: 947501998
Change-Id: I939aaf3db7d8b7cbd04d7bb4885d10e0191e579a
This commit is contained in:
Yuval Tassa
2026-07-14 00:51:07 -07:00
committed by Copybara-Service
parent 6afe13573b
commit 796b803ecf
3 changed files with 8 additions and 8 deletions
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test/engine/engine_derivative_test.cc
+4 -4
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@@ -1054,12 +1054,12 @@ TEST_F(DerivativeTest, quatIntegrate) {
mjd_quatIntegrateFD(DquatFD, DsFD, DvelFD, DhFD, quat, vel, h, eps);
// expect numerical equality of un/scaled velocity derivatives
EXPECT_THAT(AsVector(DvelFD, 9), Pointwise(MjNear(1e-7, 1e-3), DsFD));
EXPECT_THAT(AsVector(DvelFD, 9), Pointwise(MjNear(1e-7, 1e-2), DsFD));
// expect numerical equality of analytic and FD derivatives
EXPECT_THAT(AsVector(DquatFD, 9), Pointwise(MjNear(1e-7, 1e-3), Dquat));
EXPECT_THAT(AsVector(DvelFD, 9), Pointwise(MjNear(1e-7, 1e-3), Dvel));
EXPECT_THAT(AsVector(DhFD, 3), Pointwise(MjNear(1e-7, 1e-3), Dh));
EXPECT_THAT(AsVector(DquatFD, 9), Pointwise(MjNear(1e-7, 1e-2), Dquat));
EXPECT_THAT(AsVector(DvelFD, 9), Pointwise(MjNear(1e-7, 1e-2), Dvel));
EXPECT_THAT(AsVector(DhFD, 3), Pointwise(MjNear(1e-7, 1e-2), Dh));
}
}
}