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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_setconst_test.cc
+7 -8
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@@ -27,7 +27,6 @@ namespace mujoco {
namespace {
using ::std::string;
using ::testing::DoubleNear;
using ::testing::HasSubstr;
using ::testing::IsNull;
using ::testing::NotNull;
@@ -457,20 +456,20 @@ TEST_F(SetConstTest, DofLength) {
EXPECT_EQ(model->dof_length[0], 1);
// B2: Hinge
EXPECT_THAT(model->dof_length[1], DoubleNear(3, tol));
EXPECT_NEAR(model->dof_length[1], 3, tol);
// B3: Ball
EXPECT_THAT(model->dof_length[2], DoubleNear(4, tol));
EXPECT_THAT(model->dof_length[3], DoubleNear(4, tol));
EXPECT_THAT(model->dof_length[4], DoubleNear(4, tol));
EXPECT_NEAR(model->dof_length[2], 4, tol);
EXPECT_NEAR(model->dof_length[3], 4, tol);
EXPECT_NEAR(model->dof_length[4], 4, tol);
// B4: Free
EXPECT_EQ(model->dof_length[5], 1);
EXPECT_EQ(model->dof_length[6], 1);
EXPECT_EQ(model->dof_length[7], 1);
EXPECT_THAT(model->dof_length[8], DoubleNear(5, tol));
EXPECT_THAT(model->dof_length[9], DoubleNear(5, tol));
EXPECT_THAT(model->dof_length[10], DoubleNear(5, tol));
EXPECT_NEAR(model->dof_length[8], 5, tol);
EXPECT_NEAR(model->dof_length[9], 5, tol);
EXPECT_NEAR(model->dof_length[10], 5, tol);
mj_deleteModel(model);
}