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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_derivative_test.cc
+27 -26
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@@ -44,7 +44,11 @@ using ::testing::NotNull;
using DerivativeTest = MujocoTest;
// errors smaller than this are ignored
static const mjtNum absolute_tolerance = 1e-9;
#ifdef mjUSESINGLE
static const mjtNum absolute_tolerance = 1e-3;
#else
static const mjtNum absolute_tolerance = 1e-9;
#endif
// corrected relative error
static mjtNum RelativeError(mjtNum a, mjtNum b) {
@@ -124,7 +128,7 @@ TEST_F(DerivativeTest, SmoothDvel) {
vector<mjtNum> qDerivAnalytic = AsVector(data->qDeriv, nD);
// compute finite-difference derivatives
mjtNum eps = 1e-7;
mjtNum eps = MjTol(1e-7, 1e-3);
mju_zero(data->qDeriv, nD);
mjd_smooth_velFD(model, data, eps);
@@ -134,7 +138,7 @@ TEST_F(DerivativeTest, SmoothDvel) {
// expect FD and analytic derivatives to be similar to eps precision
EXPECT_THAT(AsVector(data->qDeriv, nD),
Pointwise(DoubleNear(eps), qDerivAnalytic));
Pointwise(MjNear(1e-7, 3e-3), qDerivAnalytic));
}
mj_deleteData(data);
mj_deleteModel(model);
@@ -316,13 +320,12 @@ TEST_F(DerivativeTest, PassiveDvel) {
// clear qDeriv, get finite-difference derivatives
mju_zero(data->qDeriv, nD);
mju_zero(qDerivFD, nD);
mjtNum eps = 1e-6;
mjtNum eps = MjTol(1e-6, 1e-3);
mjd_passive_velFD(model, data, eps);
// expect FD and analytic derivatives to be similar to tol precision
mjtNum tol = 1e-4;
EXPECT_THAT(AsVector(data->qDeriv, nD),
Pointwise(DoubleNear(tol), AsVector(qDerivAnalytic, nD)));
Pointwise(MjNear(1e-4, 1e-3), AsVector(qDerivAnalytic, nD)));
}
mju_free(qDerivFD);
@@ -502,7 +505,7 @@ TEST_F(DerivativeTest, LinearSystem) {
// PrintMatrix(B, 2*nv, nu);
// forward differenced A and B
mjtNum eps = 1e-6;
mjtNum eps = MjTol(1e-6, 1e-3);
mjtNum* AFD = (mjtNum*) mju_malloc(sizeof(mjtNum)*2*nv*2*nv);
mjtNum* BFD = (mjtNum*) mju_malloc(sizeof(mjtNum)*2*nv*nu);
@@ -557,7 +560,7 @@ TEST_F(DerivativeTest, ClampedCtrlDerivatives) {
LinearSystem(model, data, nullptr, B);
// forward differenced A and B
mjtNum eps = 1e-6;
mjtNum eps = MjTol(1e-6, 1e-3);
mjtNum* BFD = (mjtNum*) mju_malloc(sizeof(mjtNum)*2*nv*nu);
// set ctrl to the limits, request forward differences
@@ -782,10 +785,9 @@ TEST_F(DerivativeTest, DenseSparseRneEquivalent) {
mjd_passive_vel(model, data);
mjd_rne_vel_dense(model, data);
// expect dense and sparse derivatives to be similar to eps precision
mjtNum eps = 1e-12;
// expect dense and sparse derivatives to be similar to precision
EXPECT_THAT(AsVector(data->qDeriv, nD),
Pointwise(DoubleNear(eps), AsVector(qDeriv, nD)));
Pointwise(MjNear(1e-12, 5e-5), AsVector(qDeriv, nD)));
mj_deleteData(data);
mju_free(qDeriv);
@@ -937,7 +939,7 @@ static void subQuatFD(mjtNum Da[9], mjtNum Db[9],
TEST_F(DerivativeTest, SubQuat) {
const int nrepeats = 10; // number of repeats
const mjtNum eps = 1e-7; // epsilon for finite-differencing and comparison
const mjtNum eps = MjTol(1e-7, 1e-3); // epsilon for finite-differencing and comparison
int seed = 1;
for (int i = 0; i < nrepeats; i++) {
@@ -961,9 +963,9 @@ TEST_F(DerivativeTest, SubQuat) {
// expect numerical equality
EXPECT_THAT(AsVector(DaFD, 9),
Pointwise(DoubleNear(eps), AsVector(Da, 9)));
Pointwise(MjNear(1e-7, 1e-3), AsVector(Da, 9)));
EXPECT_THAT(AsVector(DbFD, 9),
Pointwise(DoubleNear(eps), AsVector(Db, 9)));
Pointwise(MjNear(1e-7, 1e-3), AsVector(Db, 9)));
}
}
}
@@ -1046,7 +1048,7 @@ void mjd_quatIntegrateFD(mjtNum Dquat[9], mjtNum Ds[9],
TEST_F(DerivativeTest, quatIntegrate) {
const int nrepeats = 10; // number of repeats
const mjtNum eps = 1e-7; // epsilon for finite-differencing and comparison
const mjtNum eps = MjTol(1e-7, 1e-3); // epsilon for finite-differencing and comparison
int seed = 1;
for (int i = 0; i < nrepeats; i++) {
@@ -1070,12 +1072,12 @@ 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(DoubleNear(eps), DsFD));
EXPECT_THAT(AsVector(DvelFD, 9), Pointwise(MjNear(1e-7, 1e-3), DsFD));
// expect numerical equality of analytic and FD derivatives
EXPECT_THAT(AsVector(DquatFD, 9), Pointwise(DoubleNear(eps), Dquat));
EXPECT_THAT(AsVector(DvelFD, 9), Pointwise(DoubleNear(eps), Dvel));
EXPECT_THAT(AsVector(DhFD, 3), Pointwise(DoubleNear(eps), Dh));
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));
}
}
}
@@ -1405,7 +1407,7 @@ TEST_F(DerivativeTest, FlexInterpDerivatives) {
mju_mulMatVec(res.data(), H.data(), vec.data(), nv, nv);
// finite difference of mj_passive for stiffness
double eps = 1e-6;
mjtNum eps = MjTol(1e-6, 1e-3);
mjData* data_perturbed = mj_copyData(NULL, model, data);
// apply perturbation
@@ -1425,7 +1427,7 @@ TEST_F(DerivativeTest, FlexInterpDerivatives) {
// compare analytical result (H*vec) with FD result
for (int i = 0; i < nv; ++i) {
EXPECT_NEAR(res[i], fd_res[i], 5e-3)
EXPECT_THAT(res[i], MjNear(fd_res[i], 5e-3, 5.0))
<< "Stiffness Mismatch at DOF " << i;
}
@@ -1440,7 +1442,7 @@ TEST_F(DerivativeTest, FlexInterpDerivatives) {
max_asymmetry = mju_max(max_asymmetry, diff);
}
}
EXPECT_LT(max_asymmetry, 1e-10)
EXPECT_THAT(max_asymmetry, MjNear(0, 1e-10, 5e-4))
<< "K matrix is not symmetric at angle " << angle;
// check positive semi-definiteness: v^T * K * v >= 0
@@ -1455,7 +1457,7 @@ TEST_F(DerivativeTest, FlexInterpDerivatives) {
vKv += v[i] * K_full[i * nv + j] * v[j];
}
}
EXPECT_GE(vKv, -1e-8) << "K matrix is not PSD at angle " << angle;
EXPECT_GE(vKv, MjTol(-1e-8, -1e-5)) << "K matrix is not PSD at angle " << angle;
}
}
@@ -1475,7 +1477,7 @@ TEST_F(DerivativeTest, FlexInterpDerivatives) {
// finite-difference derivatives
std::vector<mjtNum> qDerivFD(nD);
mju_zero(data->qDeriv, nD);
mjtNum eps = 1e-6;
mjtNum eps = MjTol(1e-6, 1e-3);
mjd_passive_velFD(model, data, eps);
mju_copy(qDerivFD.data(), data->qDeriv, nD);
@@ -1512,8 +1514,7 @@ TEST_F(DerivativeTest, FlexInterpDerivatives) {
}
// expect FD and corrected analytic derivatives to match
mjtNum tol = 1e-4;
EXPECT_THAT(qDerivAnalytic, Pointwise(DoubleNear(tol), qDerivFD))
EXPECT_THAT(qDerivAnalytic, Pointwise(MjNear(1e-4, 1e4), qDerivFD))
<< "Damping Mismatch at angle: " << angle;
}
}