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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_passive_test.cc
+12 -11
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@@ -55,15 +55,15 @@ TEST_F(PassiveTest, DisableFlags) {
mj_resetDataKeyframe(m, d, 0);
mj_forward(m, d);
EXPECT_FLOAT_EQ(d->qacc[0], 11);
EXPECT_MJTNUM_EQ(d->qacc[0], 11);
m->opt.disableflags = mjDSBL_DAMPER;
mj_forward(m, d);
EXPECT_FLOAT_EQ(d->qacc[0], 10);
EXPECT_MJTNUM_EQ(d->qacc[0], 10);
m->opt.disableflags = mjDSBL_SPRING;
mj_forward(m, d);
EXPECT_FLOAT_EQ(d->qacc[0], 1);
EXPECT_MJTNUM_EQ(d->qacc[0], 1);
m->opt.disableflags = mjDSBL_SPRING | mjDSBL_DAMPER;
mj_forward(m, d);
@@ -125,7 +125,7 @@ TEST_F(PassiveTest, PolyStiffnessSlide) {
mj_resetDataKeyframe(m, d, 0);
mj_forward(m, d);
EXPECT_FLOAT_EQ(d->qfrc_spring[0], -48);
EXPECT_MJTNUM_EQ(d->qfrc_spring[0], -48);
mj_deleteData(d);
mj_deleteModel(m);
@@ -154,7 +154,7 @@ TEST_F(PassiveTest, PolyStiffnessAntiSymmetric) {
mj_resetDataKeyframe(m, d, 0);
mj_forward(m, d);
EXPECT_FLOAT_EQ(d->qfrc_spring[0], 8);
EXPECT_MJTNUM_EQ(d->qfrc_spring[0], 8);
mj_deleteData(d);
mj_deleteModel(m);
@@ -194,7 +194,7 @@ TEST_F(PassiveTest, PolyStiffnessTendon) {
mj_resetDataKeyframe(m, d, 0);
mj_forward(m, d);
EXPECT_FLOAT_EQ(d->qfrc_spring[0], -48);
EXPECT_MJTNUM_EQ(d->qfrc_spring[0], -48);
mj_deleteData(d);
mj_deleteModel(m);
@@ -296,7 +296,8 @@ TEST_F(EllipsoidFluidTest, GeomsEquivalentToBodies) {
d1->qpos[5] = 0.5;
d1->qpos[6] = 0.5;
const mjtNum tol = 1e-14; // tolerance for floating point numbers
// tolerance for floating point numbers
constexpr mjtNum tol = MjTol(1e-14, 1e-5);
EXPECT_EQ(m1->nv, m2->nv);
@@ -551,8 +552,8 @@ TEST_F(ElasticityTest, ElasticEnergyMembrane) {
energy += metric[21*t+idx++] * elong1 * elong2 * (e1 == e2 ? 1. : 2.);
}
}
EXPECT_NEAR(
4*energy/volume, 2*scale*scale, std::numeric_limits<float>::epsilon());
constexpr mjtNum tol = MjTol(std::numeric_limits<float>::epsilon(), 1e-5);
EXPECT_NEAR(4*energy/volume, 2*scale*scale, tol);
}
}
@@ -602,8 +603,8 @@ TEST_F(ElasticityTest, ElasticEnergySolid) {
energy += metric[21*t+idx++] * elong1 * elong2 * (e1 == e2 ? 1. : 2.);
}
}
EXPECT_NEAR(
energy/volume, 3*scale*scale, std::numeric_limits<float>::epsilon());
constexpr mjtNum tol = MjTol(std::numeric_limits<float>::epsilon(), 1e-4);
EXPECT_NEAR(energy/volume, 3*scale*scale, tol);
}
}