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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_sdf_test.cc
+4 -2
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@@ -59,7 +59,8 @@ TEST_F(SdfTest, SdfPrimitive) {
mjtNum gradient[3], dist[kgeoms][kpoints] = {
{0, 0, 0, 0, 1, 1}, // plane
{-1, 0, 0, mju_sqrt(2)-1, mju_sqrt(2)-1, mju_sqrt(3)-1}, // sphere
{-.1, .9, .9, mju_sqrt(2)-.1, .9, mju_sqrt(2)-.1}, // capsule
{(mjtNum)-.1, (mjtNum).9, (mjtNum).9,
mju_sqrt(2)-(mjtNum).1, (mjtNum).9, mju_sqrt(2)-(mjtNum).1}, // capsule
{-1, 0, 0, mju_sqrt(2)-1, 0, mju_sqrt(2)-1}, // cylinder
{-mju_sqrt(3), 0, 0, 0, 0, 0}, // box
};
@@ -72,7 +73,8 @@ TEST_F(SdfTest, SdfPrimitive) {
sdf.type = mjSDFTYPE_SINGLE;
sdf.geomtype = (mjtGeom*)(model->geom_type+i);
for (int j = 0; j < kpoints; j++) {
EXPECT_NEAR(mjc_distance(model, data, &sdf, points[j]), dist[i][j], 1e-9);
EXPECT_NEAR(mjc_distance(model, data, &sdf, points[j]), dist[i][j],
MjTol(1e-9, 5e-7));
mjc_gradient(model, data, &sdf, gradient, points[j]);
}
}