chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Enable float32 testing for most MuJoCo engine and user tests.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
test/plugin/actuator/pid_test.cc
+6 -6
View File
@@ -30,7 +30,7 @@ namespace mujoco {
namespace {
using PidTest = MujocoTest;
using ::testing::DoubleNear;
using ::testing::HasSubstr;
using ::testing::IsNull;
using ::testing::NotNull;
@@ -395,9 +395,9 @@ TEST_F(PidTest, ITerm) {
mj_step(m, d);
}
EXPECT_THAT(d->qpos[0], DoubleNear(1.0 - 10 / 40.0, 1e-5));
EXPECT_THAT(d->qpos[1], DoubleNear(1.0, 1e-5));
EXPECT_THAT(d->qpos[2], DoubleNear(1.0 - (10 - 0.125 * 40.0) / 40.0, 1e-5));
EXPECT_THAT(d->qpos[0], MjNear(1.0 - 10 / 40.0, 1e-5, 1e-5));
EXPECT_THAT(d->qpos[1], MjNear(1.0, 1e-5, 1e-5));
EXPECT_THAT(d->qpos[2], MjNear(1.0 - (10 - 0.125 * 40.0) / 40.0, 1e-5, 1e-5));
}
TEST_F(PidTest, FiniteDifferencing) {
@@ -494,14 +494,14 @@ TEST_F(PidTest, CtrlClamp) {
for (int i = 0; i < 10000; i++) {
mj_step(m, d);
}
EXPECT_THAT(d->qpos[0], DoubleNear(0.75, 1e-5));
EXPECT_THAT(d->qpos[0], MjNear(0.75, 1e-5, 1e-5));
// when applying 0, it should be clamped to 0.25
d->ctrl[0] = 0.0;
for (int i = 0; i < 10000; i++) {
mj_step(m, d);
}
EXPECT_THAT(d->qpos[0], DoubleNear(0.25, 1e-5));
EXPECT_THAT(d->qpos[0], MjNear(0.25, 1e-5, 1e-5));
}
TEST_F(PidTest, CopyData) {
test/plugin/elasticity/elasticity_test.cc
+3
View File
@@ -31,6 +31,9 @@ using ElasticityTest = MujocoTest;
// -------------------------------- cable -----------------------------------
TEST_F(ElasticityTest, CantileverIntoCircle) {
#ifdef mjUSESINGLE
GTEST_SKIP() << "Cable simulation with extreme stiffness diverges in float32";
#endif
static constexpr char cantilever_xml[] = R"(
<mujoco>
<option gravity="0 0 0"/>