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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_sensor_test.cc
+3 -3
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@@ -354,7 +354,7 @@ TEST_F(RelativeFrameSensorTest, FrameVelGeneral) {
)";
MjModelPtr model = LoadModelFromString(xml);
MjDataPtr data = MakeData(model);
mjtNum dt = 1e-6; // timestep used for finite differencing
mjtNum dt = MjTol(1e-6, 1e-3); // timestep used for finite differencing
// set (arbitrary) joint velocities and call forward dynamics
data->qvel[0] = 1;
@@ -391,8 +391,8 @@ TEST_F(RelativeFrameSensorTest, FrameVelGeneral) {
mju_quat2Vel(angvel_findiff, dquat, dt);
// compare analytic and finite-differenced relative velocities
EXPECT_THAT(linvel, Pointwise(MjNear(10 * dt, 0.15), linvel_findiff));
EXPECT_THAT(angvel, Pointwise(MjNear(10 * dt, 0.2), angvel_findiff));
EXPECT_THAT(linvel, Pointwise(MjNear(10 * dt, 1.5e-2), linvel_findiff));
EXPECT_THAT(angvel, Pointwise(MjNear(10 * dt, 2e-3), angvel_findiff));
}
// ------------------------- general sensor tests -----------------------------