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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_plugin_test.cc
+6 -6
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@@ -33,7 +33,6 @@
namespace mujoco {
namespace {
using ::testing::DoubleNear;
using ::testing::HasSubstr;
using ::testing::NotNull;
@@ -660,7 +659,8 @@ TEST_F(EnginePluginTest, ActuatorPlugin) {
m->plugin_stateadr[3]),
testing::ElementsAreArray<int>({4*(i+1), 8*j, 4*j}));
EXPECT_THAT(*reinterpret_cast<mjtNum(*)[2]>(d->actuator_force),
testing::ElementsAreArray<mjtNum>({0.125*j, 0.25*j}));
testing::ElementsAreArray<mjtNum>(
{(mjtNum)0.125*j, (mjtNum)0.25*j}));
mj_step(m, d);
mj_forward(m, d);
}
@@ -702,19 +702,19 @@ TEST_F(EnginePluginTest, FilteredActuatorPlugin) {
for (int i = 0; i < 6; ++i) {
// act_dot should be computed by the plugin
mjtNum expected_act_dot = TestActuator::kActDotValue;
EXPECT_THAT(d->act_dot[i], DoubleNear(expected_act_dot, 1e-6));
EXPECT_THAT(d->act_dot[i], MjNear(expected_act_dot, 1e-6, 1e-4));
// act_dot from the plugin should be Euler-integrated
mjtNum expected_act = expected_act_dot * m->opt.timestep;
EXPECT_THAT(d->act[i], DoubleNear(expected_act, 1e-6));
EXPECT_THAT(d->act[i], MjNear(expected_act, 1e-6, 1e-4));
}
// actuator filter state should be updated outside the plugin for filter
// actuators.
mjtNum expected_act_dot = 0.5 / m->actuator_dynprm[mjNDYN * 2];
EXPECT_THAT(d->act_dot[6], DoubleNear(expected_act_dot, 1e-6));
EXPECT_THAT(d->act_dot[6], MjNear(expected_act_dot, 1e-6, 1e-4));
EXPECT_THAT(d->act[6],
DoubleNear(0.5 + expected_act_dot * m->opt.timestep, 1e-6));
MjNear(0.5 + expected_act_dot * m->opt.timestep, 1e-6, 1e-4));
mj_deleteData(d);
mj_deleteModel(m);