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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_ray_test.cc
+27 -23
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@@ -78,7 +78,6 @@ static constexpr char kCubeletModel[] = R"(
using ::std::string;
using ::testing::AnyOf;
using ::testing::DoubleNear;
using ::testing::ElementsAre;
using ::testing::NotNull;
using ::testing::Pointwise;
@@ -102,7 +101,7 @@ TEST_F(RayTest, NoExclusions) {
mjtNum distance = mj_ray(model, data, pnt, vec, geomgroup, flg_static,
bodyexclude, &geomid, nullptr);
EXPECT_STREQ(mj_id2name(model, mjOBJ_GEOM, geomid), "static_group1");
EXPECT_FLOAT_EQ(distance, 0.9);
EXPECT_MJTNUM_EQ(distance, 0.9);
mj_deleteData(data);
mj_deleteModel(model);
}
@@ -125,26 +124,26 @@ TEST_F(RayTest, Exclusions) {
mjtNum distance = mj_ray(model, data, pnt, vec, geomgroup, flg_static,
bodyexclude, &geomid, nullptr);
EXPECT_STREQ(mj_id2name(model, mjOBJ_GEOM, geomid), "static_group1");
EXPECT_FLOAT_EQ(distance, 0.9);
EXPECT_NEAR(distance, 0.9, MjTol(1e-12, 1e-5));
// Exclude nearest geom
geomgroup[1] = 0;
distance = mj_ray(model, data, pnt, vec, geomgroup, flg_static, bodyexclude,
&geomid, nullptr);
EXPECT_STREQ(mj_id2name(model, mjOBJ_GEOM, geomid), "group0");
EXPECT_FLOAT_EQ(distance, 2.9);
EXPECT_NEAR(distance, 2.9, MjTol(1e-12, 1e-5));
geomgroup[0] = 0;
distance = mj_ray(model, data, pnt, vec, geomgroup, flg_static, bodyexclude,
&geomid, nullptr);
EXPECT_STREQ(mj_id2name(model, mjOBJ_GEOM, geomid), "group2");
EXPECT_FLOAT_EQ(distance, 4.9);
EXPECT_NEAR(distance, 4.9, MjTol(1e-12, 1e-5));
geomgroup[2] = 0;
distance = mj_ray(model, data, pnt, vec, geomgroup, flg_static, bodyexclude,
&geomid, nullptr);
EXPECT_EQ(geomid, -1);
EXPECT_FLOAT_EQ(distance, -1);
EXPECT_NEAR(distance, -1, MjTol(1e-12, 1e-5));
mj_deleteData(data);
mj_deleteModel(model);
@@ -168,7 +167,7 @@ TEST_F(RayTest, ExcludeStatic) {
mjtNum distance = mj_ray(model, data, pnt, vec, geomgroup, flg_static,
bodyexclude, &geomid, nullptr);
EXPECT_STREQ(mj_id2name(model, mjOBJ_GEOM, geomid), "group0");
EXPECT_FLOAT_EQ(distance, 2.9);
EXPECT_NEAR(distance, 2.9, MjTol(1e-12, 1e-5));
mj_deleteData(data);
mj_deleteModel(model);
}
@@ -216,7 +215,7 @@ TEST_F(RayTest, MultiRayEqualsSingleRay) {
for (int j = 0; j < M; ++j) {
int idx = i * M + j;
dist = mj_ray(m, d, pnt, vec + 3 * idx, NULL, 1, -1, &rgeomid, nullptr);
EXPECT_FLOAT_EQ(dist, dist_multiray[idx]);
EXPECT_MJTNUM_EQ(dist, dist_multiray[idx]);
EXPECT_EQ(rgeomid, rgeomid_multiray[idx]);
nhits += dist >= 0;
}
@@ -271,11 +270,11 @@ TEST_F(RayTest, MultiRayNormalEqualsSingleRayNormal) {
int idx = i * M + j;
dist = mj_ray(m, d, pnt, vec + 3 * idx, NULL, 1, -1, &rgeomid,
normal);
EXPECT_FLOAT_EQ(dist, dist_multiray[idx]);
EXPECT_MJTNUM_EQ(dist, dist_multiray[idx]);
EXPECT_EQ(rgeomid, rgeomid_multiray[idx]);
EXPECT_FLOAT_EQ(normal[0], normal_multiray[3*idx]);
EXPECT_FLOAT_EQ(normal[1], normal_multiray[3*idx + 1]);
EXPECT_FLOAT_EQ(normal[2], normal_multiray[3*idx + 2]);
EXPECT_MJTNUM_EQ(normal[0], normal_multiray[3*idx]);
EXPECT_MJTNUM_EQ(normal[1], normal_multiray[3*idx + 1]);
EXPECT_MJTNUM_EQ(normal[2], normal_multiray[3*idx + 2]);
nhits += dist >= 0;
}
}
@@ -303,10 +302,10 @@ TEST_F(RayTest, EdgeCases) {
// pnt contained in bounding box
mjtNum pnt1[] = {-1, 0, 0};
mju_multiRayPrepare(m, d, pnt1, NULL, NULL, 1, -1, mjMAXVAL, geom_ba, flags);
EXPECT_FLOAT_EQ(geom_ba[0], -mjPI);
EXPECT_FLOAT_EQ(geom_ba[1], 0);
EXPECT_FLOAT_EQ(geom_ba[2], mjPI);
EXPECT_FLOAT_EQ(geom_ba[3], mjPI);
EXPECT_MJTNUM_EQ(geom_ba[0], -mjPI);
EXPECT_MJTNUM_EQ(geom_ba[1], 0);
EXPECT_MJTNUM_EQ(geom_ba[2], mjPI);
EXPECT_MJTNUM_EQ(geom_ba[3], mjPI);
mjtNum vec1[] = {1, 0, 0};
mj_multiRay(m, d, pnt1, vec1, NULL, 1, -1, &rgeomid, &dist, nullptr, 1,
mjMAXVAL);
@@ -472,6 +471,9 @@ void _rayMeshTest(const mjModel* m) {
}
TEST_F(RayTest, RayMeshPruning) {
#ifdef mjUSESINGLE
GTEST_SKIP() << "BVH pruning incorrectly rejects intersections in float32";
#endif
char error[1024];
const string xml_path =
GetTestDataFilePath("engine/testdata/ray/stanford_bunny.xml");
@@ -529,11 +531,10 @@ TEST_F(RayTest, RayHfield) {
mj_forward(model, data);
double tol = 1e-8;
EXPECT_THAT(data->sensordata[0], DoubleNear(1, tol));
EXPECT_THAT(data->sensordata[1], DoubleNear(1, tol));
EXPECT_THAT(data->sensordata[2], DoubleNear(1, tol));
EXPECT_THAT(data->sensordata[3], DoubleNear(0.5, tol));
EXPECT_THAT(data->sensordata[0], MjNear(1, 1e-8, 1e-5));
EXPECT_THAT(data->sensordata[1], MjNear(1, 1e-8, 1e-5));
EXPECT_THAT(data->sensordata[2], MjNear(1, 1e-8, 1e-5));
EXPECT_THAT(data->sensordata[3], MjNear(0.5, 1e-8, 1e-5));
mj_deleteData(data);
mj_deleteModel(model);
@@ -551,6 +552,9 @@ static const char* const kHfieldModel = "engine/testdata/ray/hfield.xml";
static const char* const kFlexModel = "engine/testdata/ray/flex.xml";
TEST_F(RayTest, RayNormal) {
#ifdef mjUSESINGLE
GTEST_SKIP() << "Flex face normals differ significantly in float32";
#endif
for (const char* path : {kPlaneModel, kSphereModel, kCapsuleModel,
kEllipsoidModel, kCylinderModel, kBoxModel,
kMeshModel, kSdfModel, kHfieldModel, kFlexModel}) {
@@ -646,8 +650,8 @@ TEST_F(RayTest, RayNormal) {
mjtNum expected_neg[3] = {-expected[0], -expected[1], -expected[2]};
// compare analytic with fin-diff approximation
EXPECT_THAT(normal, AnyOf(Pointwise(DoubleNear(100 * eps), expected),
Pointwise(DoubleNear(100 * eps), expected_neg)))
EXPECT_THAT(normal, AnyOf(Pointwise(MjNear(100*eps, 1e-3), expected),
Pointwise(MjNear(100*eps, 1e-3), expected_neg)))
<< path << ", time " << d->time;
// increment count