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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_util_spatial_test.cc
+16 -16
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@@ -30,7 +30,6 @@
namespace mujoco {
namespace {
using ::testing::DoubleNear;
using ::testing::ElementsAre;
using ::testing::Pointwise;
@@ -122,7 +121,7 @@ TEST_F(RotVecQuatTest, TestEquivalence) {
{1, 0, 0}, {0, 1, 0}, {0, 0, 1}, {-0.5, 1, -0.5}, {1.22, -2.33, 3.44}};
// List of angles to rotate by, in degrees
mjtNum angles[6] = {0.0, 1e-8, 31, 47, 181, 271};
static const mjtNum eps = 1e-15;
static constexpr mjtNum eps = MjTol(1e-15, 1e-5);
for (auto vec : vecs) {
// Unit-normalize the vector
mju_normalize3(vec);
@@ -163,38 +162,38 @@ TEST_F(Euler2QuatTest, BadSeqLength) {
TEST_F(Euler2QuatTest, Euler2Quat) {
mjtNum quat[4] = {0};
mjtNum tol = 1e-14;
mjtNum tol = MjTol(1e-14, 1e-6);
char seq[] = "xyz";
mjtNum euler[3] = {mjPI, 0, 0};
mjtNum expected[4] = {0, 1, 0, 0};
mju_euler2Quat(quat, euler, seq);
EXPECT_THAT(quat, Pointwise(DoubleNear(tol), expected));
EXPECT_THAT(quat, Pointwise(MjNear(tol, tol), expected));
euler[1] = mjPI;
mjtNum expected2[4] = {0, 0, 0, 1};
mju_euler2Quat(quat, euler, seq);
EXPECT_THAT(quat, Pointwise(DoubleNear(tol), expected2));
EXPECT_THAT(quat, Pointwise(MjNear(tol, tol), expected2));
char seq2[] = "XYZ";
mjtNum expected3[4] = {0, 0, 0, -1};
mju_euler2Quat(quat, euler, seq2);
EXPECT_THAT(quat, Pointwise(DoubleNear(tol), expected3));
EXPECT_THAT(quat, Pointwise(MjNear(tol, tol), expected3));
mjtNum euler2[3] = {2*mjPI, 2*mjPI, 2*mjPI};
mjtNum expected4[4] = {-1, 0, 0, 0};
mju_euler2Quat(quat, euler2, seq);
EXPECT_THAT(quat, Pointwise(DoubleNear(tol), expected4));
EXPECT_THAT(quat, Pointwise(MjNear(tol, tol), expected4));
mju_euler2Quat(quat, euler2, seq2);
EXPECT_THAT(quat, Pointwise(DoubleNear(tol), expected4));
EXPECT_THAT(quat, Pointwise(MjNear(tol, tol), expected4));
mjtNum euler3[3] = {mjPI/2, mjPI/2, mjPI/2};
mjtNum expected5[4] = {0, mju_sqrt(.5), 0, mju_sqrt(.5)};
mju_euler2Quat(quat, euler3, seq);
EXPECT_THAT(quat, Pointwise(DoubleNear(tol), expected5));
EXPECT_THAT(quat, Pointwise(MjNear(tol, tol), expected5));
mju_euler2Quat(quat, euler3, seq2);
mjtNum expected6[4] = {mju_sqrt(.5), 0, mju_sqrt(.5), 0};
EXPECT_THAT(quat, Pointwise(DoubleNear(tol), expected6));
EXPECT_THAT(quat, Pointwise(MjNear(tol, tol), expected6));
}
using Mat2RotTest = MujocoTest;
@@ -219,8 +218,9 @@ TEST_F(Mat2RotTest, RotationFromArbitraryMatrix) {
// calculate rotational part of the matrix
mjtNum quat[4] = {1, 0, 0, 0};
int niter = mju_mat2Rot(quat, mat);
EXPECT_THAT(quat, Pointwise(DoubleNear(1e-8), target));
EXPECT_LE(niter, 150);
EXPECT_THAT(quat, Pointwise(MjNear(1e-8, 1e-6), target));
int max_iter = static_cast<int>(MjTol(150, 500));
EXPECT_LE(niter, max_iter);
}
TEST_F(Mat2RotTest, IdentityFromRandomRotation) {
@@ -244,7 +244,7 @@ TEST_F(Mat2RotTest, IdentityFromRandomRotation) {
mju_normalize4(quat);
EXPECT_LE(mju_mat2Rot(quat, mat), 40);
mju_quat2Mat(res, quat);
EXPECT_THAT(res, Pointwise(DoubleNear(1e-6), mat));
EXPECT_THAT(res, Pointwise(MjNear(1e-6, 1e-6), mat));
}
}
@@ -252,13 +252,13 @@ TEST_F(Mat2RotTest, SpecialCases) {
mjtNum eye[9] = {1, 0, 0, 0, 1, 0, 0, 0, 1};
mjtNum quat[4] = {1, 0, 0, 0};
EXPECT_EQ(mju_mat2Rot(quat, eye), 0);
EXPECT_THAT(quat, Pointwise(DoubleNear(1e-8), {1, 0, 0, 0}));
EXPECT_THAT(quat, Pointwise(MjNear(1e-8, 1e-8), {1, 0, 0, 0}));
mjtNum zero[9] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
EXPECT_EQ(mju_mat2Rot(quat, zero), 0);
EXPECT_THAT(quat, Pointwise(DoubleNear(1e-8), {1, 0, 0, 0}));
EXPECT_THAT(quat, Pointwise(MjNear(1e-8, 1e-4), {1, 0, 0, 0}));
mjtNum ones[9] = {1, 1, 1, 1, 1, 1, 1, 1, 1};
EXPECT_EQ(mju_mat2Rot(quat, ones), 0);
EXPECT_THAT(quat, Pointwise(DoubleNear(1e-8), {1, 0, 0, 0}));
EXPECT_THAT(quat, Pointwise(MjNear(1e-8, 1e-4), {1, 0, 0, 0}));
}
} // namespace