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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_solver_test.cc
+8 -7
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@@ -26,7 +26,6 @@
namespace mujoco {
namespace {
using ::testing::DoubleNear;
using ::testing::NotNull;
using ::testing::Pointwise;
using ::std::max;
@@ -93,10 +92,11 @@ TEST_F(SolverTest, IslandsEquivalent) {
auto time = std::to_string(data_noisland->time);
for (int j = 0; j < nv; j++) {
// increase tolerance for large elements
mjtNum scale = 0.5 * max(2.0, abs(data_noisland->qacc[j]) +
abs(data_island->qacc[j]));
EXPECT_THAT(data_noisland->qacc[j],
DoubleNear(data_island->qacc[j], scale * rtol[i]))
mjtNum scale = 0.5 * max(static_cast<mjtNum>(2.0),
std::abs(data_noisland->qacc[j]) +
std::abs(data_island->qacc[j]));
EXPECT_NEAR(data_noisland->qacc[j], data_island->qacc[j],
MjTol(scale * rtol[i], 500 * scale * rtol[i]))
<< "time: " << time << '\n'
<< "dof: " << j << '\n'
<< "maxiter: " << maxiter[i] << '\n'
@@ -159,7 +159,7 @@ TEST_F(SolverTest, IslandsEquivalentForward) {
mju_norm(data_island->qacc, nv));
mjtNum tol = scale * (solver == mjSOL_CG ? 1e-6 : 1e-8);
EXPECT_THAT(AsVector(data_island->qacc, nv),
Pointwise(DoubleNear(scale * tol),
Pointwise(MjNear(scale * tol, 500 * scale * tol),
AsVector(data_noisland->qacc, nv)))
<< "warmstart: " << warmstart << '\n'
<< "jacobian: " << (jacobian ? "sparse" : "dense") << '\n'
@@ -269,7 +269,8 @@ TEST_F(SolverTest, SolversEquivalent) {
(jacobian == mjJAC_DENSE ? "dense" : "sparse");
EXPECT_THAT(AsVector(data->qfrc_constraint, nv),
Pointwise(DoubleNear(tolerance),
Pointwise(MjNear(tolerance,
max(1e-1, 1000 * tolerance)),
AsVector(data_truth->qfrc_constraint, nv)))
<< "model: " << config.path << "\n"
<< "cone: " << cone_str << "\n"