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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_support_test.cc
+32 -31
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@@ -34,7 +34,6 @@ namespace {
using ::std::vector;
using ::testing::ContainsRegex; // NOLINT
using ::testing::DoubleNear;
using ::testing::Eq;
using ::testing::MatchesRegex;
using ::testing::Ne;
@@ -99,9 +98,8 @@ TEST_F(AngMomMatTest, CompareAngMom) {
mju_mulMatVec(angmom_test, angmom_mat, data->qvel, 3, nv);
// compare the two angular momentum values
static const mjtNum tol = 1e-8;
for (int i = 0; i < 3; i++) {
EXPECT_THAT(angmom_ref[i], DoubleNear(angmom_test[i], tol));
EXPECT_THAT(angmom_ref[i], MjNear(angmom_test[i], 1e-8, 1e-4));
}
mju_free(angmom_mat);
@@ -129,7 +127,7 @@ TEST_F(AngMomMatTest, CompareAngMomMats) {
mj_angmomMat(model, data, angmom_mat, bodyid);
// compute the angular momentum matrix using finite differences
static const mjtNum eps = 1e-6;
static constexpr mjtNum eps = MjTol(1e-6, 1e-3);
for (int i = 0; i < nv; i++) {
// reset vel, forward nudge i-th dof, get angmom
mju_copy(data->qvel, model->key_qvel, model->nv);
@@ -154,9 +152,8 @@ TEST_F(AngMomMatTest, CompareAngMomMats) {
}
// compare the two matrices
static const mjtNum tol = 1e-8;
for (int i = 0; i < 3*nv; i++) {
EXPECT_THAT(angmom_mat_fd[i], DoubleNear(angmom_mat[i], tol));
EXPECT_THAT(angmom_mat_fd[i], MjNear(angmom_mat[i], 1e-8, 2e-4));
}
mju_free(angmom_mat_fd);
@@ -241,7 +238,7 @@ TEST_F(JacobianTest, SubtreeJac) {
// compare finite-differenced and analytic Jacobian
for (int j=0; j < 3; j++) {
mjtNum findiff = (data->subtree_com[3*bodyid+j] - subtree_com[j]) / eps;
EXPECT_THAT(jac_subtree[nv*j+i], DoubleNear(findiff, eps));
EXPECT_THAT(jac_subtree[nv*j+i], MjNear(findiff, eps, 1e-2));
}
}
@@ -289,7 +286,7 @@ TEST_F(JacobianTest, SubtreeJacNoInternalAcc) {
for (int r = 0; r < 3; r++) {
for (int c = 0; c < nv; c++) {
mjtNum expected = c - body_dofadr == r ? invtreemass : 0.0;
EXPECT_THAT(jac_subtree[nv*r+c], DoubleNear(expected, max_abs_err));
EXPECT_THAT(jac_subtree[nv*r+c], MjNear(expected, max_abs_err, 1e-4));
}
}
@@ -459,7 +456,7 @@ TEST_F(JacobianTest, JacDot) {
mj_jacDot(model, data, jacp_dot.data(), jacr_dot.data(), point, bodyid);
// jac_h: jacobian after integrating qpos with a timestep of h
mjtNum h = 1e-7;
constexpr mjtNum h = MjTol(1e-7, 5e-4);
mj_integratePos(model, data->qpos, data->qvel, h);
mj_kinematics(model, data);
mj_comPos(model, data);
@@ -478,8 +475,8 @@ TEST_F(JacobianTest, JacDot) {
// compare finite-differenced and analytic
mjtNum tol = 1e-5;
EXPECT_THAT(jacp_dot, Pointwise(DoubleNear(tol), jacp_dot_h));
EXPECT_THAT(jacr_dot, Pointwise(DoubleNear(tol), jacr_dot_h));
EXPECT_THAT(jacp_dot, Pointwise(MjNear(tol, 5e-2), jacp_dot_h));
EXPECT_THAT(jacr_dot, Pointwise(MjNear(tol, 5e-2), jacr_dot_h));
mj_deleteData(data);
mj_deleteModel(model);
@@ -683,7 +680,7 @@ TEST_F(SupportTest, DifferentiatePosSubQuat) {
mju_quat2Vel(qvel_expect, qdif, dt);
// expect numerical equality
EXPECT_THAT(AsVector(qvel, 3), Pointwise(DoubleNear(eps), qvel_expect));
EXPECT_THAT(AsVector(qvel, 3), Pointwise(MjNear(eps, 1e-3), qvel_expect));
}
}
@@ -1007,7 +1004,7 @@ TEST_F(InertiaTest, mulM) {
mj_mulM(model, data, res2.data(), vec.data());
// expect vectors to match to floating point precision
EXPECT_THAT(res1, Pointwise(DoubleNear(1e-10), res2));
EXPECT_THAT(res1, Pointwise(MjNear(1e-10, 0.1), res2));
mj_deleteData(data);
mj_deleteModel(model);
@@ -1038,7 +1035,7 @@ TEST_F(InertiaTest, mulM2) {
// compute vec' * M * vec in two different ways, expect them to match
mjtNum sqrtMvec2 = mju_dot(sqrtMvec.data(), sqrtMvec.data(), nv);
mjtNum vecMvec = mju_dot(vec.data(), Mvec.data(), nv);
EXPECT_FLOAT_EQ(sqrtMvec2, vecMvec);
EXPECT_MJTNUM_EQ(sqrtMvec2, vecMvec);
mj_deleteData(data);
mj_deleteModel(model);
@@ -1093,7 +1090,7 @@ TEST_F(InertiaTest, FullM) {
mju_mulMatTMat(P.data(), L.data(), DL.data(), nv, nv, nv);
// expect M and P to match to high precision
EXPECT_THAT(M, Pointwise(DoubleNear(1e-10), P));
EXPECT_THAT(M, Pointwise(MjNear(1e-10, 1e-4), P));
mj_deleteData(d);
mj_deleteModel(m);
@@ -1144,39 +1141,43 @@ TEST_F(SupportTest, GeomDistance) {
// plane-sphere
distmax = 1.0;
EXPECT_DOUBLE_EQ(mj_geomDistance(model, data, 0, 1, 1.0, fromto), 0.8);
EXPECT_THAT(mj_geomDistance(model, data, 0, 1, 1.0, fromto),
MjNear(0.8, 1e-12, 1e-5));
mjtNum eps = 1e-12;
EXPECT_THAT(fromto, Pointwise(DoubleNear(eps),
EXPECT_THAT(fromto, Pointwise(MjNear(eps, 1e-5),
vector<mjtNum>{0, 0, 0, 0, 0, 0.8}));
// sphere-plane
EXPECT_DOUBLE_EQ(mj_geomDistance(model, data, 1, 0, 1.0, fromto), 0.8);
EXPECT_THAT(fromto, Pointwise(DoubleNear(eps),
EXPECT_THAT(mj_geomDistance(model, data, 1, 0, 1.0, fromto),
MjNear(0.8, 1e-12, 1e-5));
EXPECT_THAT(fromto, Pointwise(MjNear(eps, 1e-5),
vector<mjtNum>{0, 0, 0.8, 0, 0, 0}));
// sphere-sphere
EXPECT_DOUBLE_EQ(mj_geomDistance(model, data, 1, 2, 1.0, fromto), 0.5);
EXPECT_THAT(fromto, Pointwise(DoubleNear(eps),
EXPECT_THAT(mj_geomDistance(model, data, 1, 2, 1.0, fromto),
MjNear(0.5, 1e-12, 1e-5));
EXPECT_THAT(fromto, Pointwise(MjNear(eps, 1e-5),
vector<mjtNum>{.2, 0, 1, .7, 0, 1}));
// sphere-sphere, flipped order
EXPECT_DOUBLE_EQ(mj_geomDistance(model, data, 2, 1, 1.0, fromto), 0.5);
EXPECT_THAT(fromto, Pointwise(DoubleNear(eps),
EXPECT_THAT(mj_geomDistance(model, data, 2, 1, 1.0, fromto),
MjNear(0.5, 1e-12, 1e-5));
EXPECT_THAT(fromto, Pointwise(MjNear(eps, 1e-5),
vector<mjtNum>{.7, 0, 1, .2, 0, 1}));
// mesh-sphere (close distmax)
distmax = 0.701;
eps = model->opt.ccd_tolerance;
EXPECT_THAT(mj_geomDistance(model, data, 3, 1, distmax, fromto),
DoubleNear(0.7, eps));
EXPECT_THAT(fromto, Pointwise(DoubleNear(eps),
MjNear(0.7, eps, eps*100));
EXPECT_THAT(fromto, Pointwise(MjNear(eps, eps*100),
vector<mjtNum>{0, 0, .1, 0, 0, .8}));
// mesh-sphere (far distmax)
distmax = 1.0;
EXPECT_THAT(mj_geomDistance(model, data, 3, 1, distmax, fromto),
DoubleNear(0.7, eps));
EXPECT_THAT(fromto, Pointwise(DoubleNear(eps),
MjNear(0.7, eps, eps*100));
EXPECT_THAT(fromto, Pointwise(MjNear(eps, eps*100),
vector<mjtNum>{0, 0, .1, 0, 0, .8}));
mj_deleteData(data);
@@ -1203,7 +1204,7 @@ TEST_F(SupportTest, GeomDistanceFromToFlipped) {
fromto10[0], fromto10[1], fromto10[2]};
EXPECT_THAT(AsVector(fromto10flipped, 6),
Pointwise(DoubleNear(1.0e-12), fromto01));
Pointwise(MjNear(1.0e-12, 1e-5), fromto01));
}
mj_deleteData(data);
mj_deleteModel(model);
@@ -1318,7 +1319,7 @@ TEST_F(SupportTest, ReadCtrlWithDelay) {
// model should have delay configured
// delay = 0.03 seconds, timestep = 0.01, so ndelay = ceil(0.03/0.01) = 3
EXPECT_EQ(model->actuator_history[0], 3);
EXPECT_NEAR(model->actuator_delay[0], 0.03, 1e-10);
EXPECT_NEAR(model->actuator_delay[0], 0.03, 1e-7);
EXPECT_GE(model->actuator_historyadr[0], 0);
// initially, buffer should be filled with constant value (from init)
@@ -1456,11 +1457,11 @@ TEST_F(SupportTest, InitSensorDelay) {
mjtNum result = 0;
const mjtNum* ptr = mj_readSensor(model, data, 0, 0.04, &result, /*order=*/0);
mjtNum val = ptr ? *ptr : result;
EXPECT_EQ(val, 0.7);
EXPECT_NEAR(val, 0.7, 1e-6);
ptr = mj_readSensor(model, data, 0, 0.03, &result, /*order=*/0);
val = ptr ? *ptr : result;
EXPECT_EQ(val, 0.6);
EXPECT_NEAR(val, 0.6, 1e-6);
mj_deleteData(data);
mj_deleteModel(model);