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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_forward_test.cc
+47 -26
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@@ -44,6 +44,19 @@ namespace {
static const char* const kEnergyConservingPendulumPath =
"engine/testdata/derivative/energy_conserving_pendulum.xml";
// helper for precision-aware checks in macros (e.g. MJDATA_POINTERS)
template <typename T>
void ExpectNear(T a, T b) {
EXPECT_EQ(a, b);
}
template <>
void ExpectNear<mjtNum>(mjtNum a, mjtNum b) {
EXPECT_EQ(a, b);
}
static const char* const kDampedActuatorsPath =
"engine/testdata/derivative/damped_actuators.xml";
static const char* const kJointForceClamp =
@@ -52,7 +65,7 @@ static const char* const kTendonForceClamp =
"engine/testdata/actuation/tendon_force_clamp.xml";
using ::testing::Pointwise;
using ::testing::DoubleNear;
using ::testing::Ne;
using ::testing::HasSubstr;
using ::testing::NotNull;
@@ -100,7 +113,7 @@ TEST_P(ParametrizedForwardTest, ActLimited) {
EXPECT_GT(data->act[0], -1);
// after 99 steps we hit the upper bound
if (i < 99) EXPECT_LT(data->act[0], 1);
if (i >= 99) EXPECT_EQ(data->act[0], 1);
if (i >= 99) EXPECT_NEAR(data->act[0], 1, MjTol(0, 5e-6));
}
data->ctrl[0] = -1.0;
@@ -111,7 +124,9 @@ TEST_P(ParametrizedForwardTest, ActLimited) {
EXPECT_LT(data->act[0], model->actuator_actrange[1]);
// after 199 steps we hit the lower bound
if (i < 199) EXPECT_GT(data->act[0], model->actuator_actrange[0]);
if (i >= 199) EXPECT_EQ(data->act[0], model->actuator_actrange[0]);
if (i >= 199) {
EXPECT_NEAR(data->act[0], model->actuator_actrange[0], MjTol(0.0, 5e-6));
}
}
mj_deleteData(data);
@@ -256,7 +271,7 @@ TEST_F(ImplicitIntegratorTest, EulerDampDisable) {
qacc_fd[i] = (data->qvel[i] - qvel[i]) / model->opt.timestep;
}
// expect finite-differenced qacc to match to high precision
EXPECT_THAT(qacc_fd, Pointwise(DoubleNear(1e-14), qacc));
EXPECT_THAT(qacc_fd, Pointwise(MjNear(1e-14, 1e-6), qacc));
// reach the same initial state
mj_resetData(model, data);
@@ -372,11 +387,13 @@ TEST_F(ImplicitIntegratorTest, EulerImplicitEquivalent) {
}
// expect qpos vectors to be numerically different
#ifndef mjUSESINGLE
EXPECT_THAT(AsVector(data->qpos, model->nq), Pointwise(Ne(), qposEuler));
#endif
// expect qpos vectors to be similar to high precision
EXPECT_THAT(AsVector(data->qpos, model->nq),
Pointwise(DoubleNear(1e-14), qposEuler));
Pointwise(MjNear(1e-14, 1e-6), qposEuler));
mj_deleteData(data);
mj_deleteModel(model);
@@ -393,8 +410,10 @@ TEST_F(ImplicitIntegratorTest, JointActuatorEquivalent) {
mj_step(model, data);
}
// expect corresponding joint values to be significantly different
#ifndef mjUSESINGLE
EXPECT_GT(fabs(data->qpos[0]-data->qpos[2]), 1e-4);
EXPECT_GT(fabs(data->qpos[1]-data->qpos[3]), 1e-4);
#endif
// reset, take 10 steps with implicit
mj_resetData(model, data);
@@ -404,8 +423,8 @@ TEST_F(ImplicitIntegratorTest, JointActuatorEquivalent) {
}
// expect corresponding joint values to be insignificantly different
EXPECT_LT(fabs(data->qpos[0]-data->qpos[2]), 1e-16);
EXPECT_LT(fabs(data->qpos[1]-data->qpos[3]), 1e-16);
EXPECT_LT(fabs(data->qpos[0]-data->qpos[2]), MjTol(1e-16, 1e-6));
EXPECT_LT(fabs(data->qpos[1]-data->qpos[3]), MjTol(1e-16, 1e-6));
mj_deleteData(data);
mj_deleteModel(model);
@@ -671,6 +690,9 @@ TEST_F(ForwardTest, eq_active) {
// test that normalized and denormalized quats give the same result
TEST_F(ForwardTest, NormalizeQuats) {
#ifdef mjUSESINGLE
GTEST_SKIP() << "Skipping in float32: exact mjData comparison infeasible.";
#endif
static constexpr char xml[] = R"(
<mujoco>
<option integrator="implicit">
@@ -729,7 +751,7 @@ TEST_F(ForwardTest, NormalizeQuats) {
#define X(type, name, nr, nc) \
for (int i = 0; i < model->nr; i++) \
for (int j = 0; j < nc; j++) \
EXPECT_EQ(data_n->name[i*nc+j], data_u->name[i*nc+j]);
ExpectNear(data_n->name[i*nc+j], data_u->name[i*nc+j]);
MJDATA_POINTERS;
#undef X
@@ -759,7 +781,7 @@ TEST_F(ForwardTest, NormalizeQuats) {
#define X(type, name, nr, nc) \
for (int i = 0; i < model->nr; i++) \
for (int j = 0; j < nc; j++) \
EXPECT_EQ(data_n->name[i*nc+j], data_u->name[i*nc+j]);
ExpectNear(data_n->name[i*nc+j], data_u->name[i*nc+j]);
MJDATA_POINTERS;
#undef X
@@ -791,8 +813,8 @@ TEST_F(ForwardTest, MocapQuats) {
// expect mocap_quat to be normalized (by the compiler)
for (int i = 0; i < 4; i++) {
EXPECT_EQ(data->mocap_quat[i], 0.5);
EXPECT_EQ(data->xquat[4+i], 0.5);
EXPECT_NEAR(data->mocap_quat[i], 0.5, MjTol(0, 1e-6));
EXPECT_NEAR(data->xquat[4+i], 0.5, MjTol(0, 1e-6));
}
// write denormalized quats to mocap_quat, call forward again
@@ -803,8 +825,8 @@ TEST_F(ForwardTest, MocapQuats) {
// expect mocap_quat to remain denormalized, but xquat to be normalized
for (int i = 0; i < 4; i++) {
EXPECT_EQ(data->mocap_quat[i], 1);
EXPECT_EQ(data->xquat[4+i], 0.5);
EXPECT_NEAR(data->mocap_quat[i], 1, MjTol(0, 1e-6));
EXPECT_NEAR(data->xquat[4+i], 0.5, MjTol(0, 1e-6));
}
mj_deleteData(data);
@@ -957,8 +979,8 @@ TEST_F(ActuatorTest, ActuatorForceClamping) {
mj_forward(model, data);
// expect clamping as specified in the model
EXPECT_EQ(data->actuator_force[0], 1);
EXPECT_EQ(data->qfrc_actuator[0], 0.4);
EXPECT_NEAR(data->actuator_force[0], 1, MjTol(0, 1e-6));
EXPECT_NEAR(data->qfrc_actuator[0], 0.4, MjTol(0, 1e-6));
// simulate for 2 seconds to gain velocity
while (data->time < 2) {
@@ -968,7 +990,7 @@ TEST_F(ActuatorTest, ActuatorForceClamping) {
// activate damper, expect force to be clamped at lower bound
data->ctrl[1] = 1;
mj_forward(model, data);
EXPECT_EQ(data->qfrc_actuator[0], -0.4);
EXPECT_NEAR(data->qfrc_actuator[0], -0.4, MjTol(0, 1e-6));
mj_deleteData(data);
mj_deleteModel(model);
@@ -1117,9 +1139,9 @@ TEST_F(ActuatorTest, DampRatioTendon) {
// expect first and second fingers to move together
double tol = 1e-10;
EXPECT_THAT(AsVector(data->qpos, 4),
Pointwise(DoubleNear(tol), AsVector(data->qpos + 4, 4)));
Pointwise(MjNear(tol, tol), AsVector(data->qpos + 4, 4)));
EXPECT_THAT(AsVector(data->qvel, 4),
Pointwise(DoubleNear(tol), AsVector(data->qvel + 4, 4)));
Pointwise(MjNear(tol, tol), AsVector(data->qvel + 4, 4)));
mj_deleteData(data);
mj_deleteModel(model);
@@ -1232,7 +1254,7 @@ TEST_F(FilterExactTest, TimestepIndependent) {
}
mjtNum large_timestep_act = data->act[0];
EXPECT_THAT(small_timestep_act, DoubleNear(large_timestep_act, 1e-14))
EXPECT_NEAR(small_timestep_act, large_timestep_act, MjTol(1e-14, 1e-6))
<< "exact integration should be independent of timestep to machine "
"precision.";
@@ -1313,8 +1335,7 @@ TEST_F(ActEarlyTest, RemovesOneStepDelay) {
mj_step(model, data);
for (int j = 0; j < model->nu / 2; j++) {
// this is true for torque actuators
EXPECT_THAT(last_qfrc[2 * j],
DoubleNear(data->qfrc_actuator[2 * j + 1], 1e-3))
EXPECT_NEAR(last_qfrc[2 * j], data->qfrc_actuator[2 * j + 1], MjTol(1e-3, 1e-1))
<< "there should be a 1 step delay between qfrc for "
<< mj_id2name(model, mjOBJ_ACTUATOR, 2 * j);
}
@@ -1549,7 +1570,7 @@ TEST_F(ForwardTest, ActuatorDelayLinearInterp) {
// delay = 0.015 seconds = 1.5*timestep, nsample=3, interp=1 (linear)
EXPECT_EQ(model->actuator_history[0], 3);
EXPECT_EQ(model->actuator_history[1], 1); // interp=1 (linear)
EXPECT_NEAR(model->actuator_delay[0], 0.015, 1e-10);
EXPECT_NEAR(model->actuator_delay[0], 0.015, MjTol(1e-10, 5e-6));
// Set increasing ctrl values
// Buffer has samples at times: -0.02, -0.01, 0 with values 0, 0, 0
@@ -1559,7 +1580,7 @@ TEST_F(ForwardTest, ActuatorDelayLinearInterp) {
data->ctrl[0] = 10.0;
mj_step(model, data);
EXPECT_NEAR(data->actuator_force[0], 0.0, 1e-10) << "step 0";
EXPECT_NEAR(data->actuator_force[0], 0.0, MjTol(1e-10, 5e-6)) << "step 0";
// After step 1 at time=0.02: buffer has times 0, 0.01, 0.02 with values 0, 10, 20
// Read at time 0.02 - 0.015 = 0.005: interpolate between t=0 (val=0) and t=0.01 (val=10)
@@ -1567,7 +1588,7 @@ TEST_F(ForwardTest, ActuatorDelayLinearInterp) {
data->ctrl[0] = 20.0;
mj_step(model, data);
EXPECT_NEAR(data->actuator_force[0], 5.0, 1e-10) << "step 1";
EXPECT_NEAR(data->actuator_force[0], 5.0, MjTol(1e-10, 5e-6)) << "step 1";
// After step 2 at time=0.03: buffer has times 0.01, 0.02, 0.03 with values 10, 20, 30
// Read at 0.03 - 0.015 = 0.015: interpolate between t=0.01 (val=10) and t=0.02 (val=20)
@@ -1575,7 +1596,7 @@ TEST_F(ForwardTest, ActuatorDelayLinearInterp) {
data->ctrl[0] = 30.0;
mj_step(model, data);
EXPECT_NEAR(data->actuator_force[0], 15.0, 1e-10) << "step 2";
EXPECT_NEAR(data->actuator_force[0], 15.0, MjTol(1e-10, 5e-6)) << "step 2";
mj_deleteData(data);
mj_deleteModel(model);
@@ -1774,7 +1795,7 @@ TEST_F(ForwardTest, FlexParentCoupling) {
if (diff > max_diff) max_diff = diff;
}
EXPECT_LT(max_diff, 2e-5)
EXPECT_LT(max_diff, MjTol(2e-5, 5e-3))
<< "Implicit integrator should match Euler at small timestep";
mj_deleteData(data);