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Enable float32 testing for most MuJoCo engine and user tests.

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PiperOrigin-RevId: 886697701
Change-Id: I4a96fae03ea18494c3fcef8eb17b3b6f0863e9b7
This commit is contained in:
Yuval Tassa
2026-03-20 04:04:34 -07:00
committed by Copybara-Service
parent cab4b73f41
commit 9fa3f6f77e
28 changed files with 536 additions and 423 deletions
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test/engine/engine_collision_box_test.cc
+3 -3
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@@ -30,7 +30,6 @@ namespace {
using MjCollisionBoxTest = MujocoTest;
using ::testing::NotNull;
using ::testing::DoubleNear;
static const char* const kBad0FilePath =
"engine/testdata/collision_box/boxbox_bad0.xml";
@@ -266,7 +265,8 @@ TEST_F(MjCollisionBoxTest, BoxSphere) {
data->qpos[2] = z;
mj_forward(model, data);
EXPECT_EQ(data->ncon, 2);
EXPECT_THAT(data->contact[0].dist, DoubleNear(data->contact[1].dist, 1e-8));
EXPECT_THAT(data->contact[0].dist,
MjNear(data->contact[1].dist, 1e-8, 1e-6));
}
mj_deleteData(data);
@@ -294,7 +294,7 @@ TEST_F(MjCollisionBoxTest, BoxBoxContactDistance) {
for (mjfCollision collision : {mjc_BoxBox, mjc_Convex}) {
int n = collision(model, data, contact, 0, 1, 0.0);
for (int i = 0; i < n; i++) {
EXPECT_NEAR(contact[i].dist, -0.5, 1.0e-8);
EXPECT_NEAR(contact[i].dist, -0.5, MjTol(1e-8, 1e-6));
}
}