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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_inverse_test.cc
+2 -2
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@@ -51,7 +51,7 @@ TEST_F(InverseTest, ForwardInverseMatch) {
mj_compareFwdInv(model, data);
// expect mismatch to be small
mjtNum epsilon = 1e-10;
mjtNum epsilon = MjTol(1e-10, 0.05);
EXPECT_LT(data->solver_fwdinv[0], epsilon);
EXPECT_LT(data->solver_fwdinv[1], epsilon);
@@ -110,7 +110,7 @@ TEST_F(InverseTest, DiscreteInverseMatch) {
// depending on mjENBL_INVDISCRETE flag, expect mismatch to be small/large
if (invdiscrete) {
mjtNum epsilon = 1e-9;
mjtNum epsilon = MjTol(1e-9, 0.05);
EXPECT_LT(data->solver_fwdinv[0], epsilon);
EXPECT_LT(data->solver_fwdinv[1], epsilon);
} else {