chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 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/user/user_mesh_test.cc
+37 -37
View File
@@ -979,14 +979,14 @@ TEST_F(MjCMeshTest, MeshPosQuat) {
mju_mulPose(recovered_pos, recovered_quat,
&model->geom_pos[0], &model->geom_quat[0],
inverse_mesh_pos, inverse_mesh_quat);
EXPECT_NEAR(recovered_pos[0], 0, 1e-12);
EXPECT_NEAR(recovered_pos[1], 0, 1e-12);
EXPECT_NEAR(recovered_pos[2], 0, 1e-12);
EXPECT_NEAR(recovered_pos[0], 0, MjTol(1e-12, 1e-6));
EXPECT_NEAR(recovered_pos[1], 0, MjTol(1e-12, 1e-6));
EXPECT_NEAR(recovered_pos[2], 0, MjTol(1e-12, 1e-6));
EXPECT_NEAR(recovered_quat[0], 1, 1e-12);
EXPECT_NEAR(recovered_quat[1], 0, 1e-12);
EXPECT_NEAR(recovered_quat[2], 0, 1e-12);
EXPECT_NEAR(recovered_quat[3], 0, 1e-12);
EXPECT_NEAR(recovered_quat[0], 1, MjTol(1e-12, 1e-6));
EXPECT_NEAR(recovered_quat[1], 0, MjTol(1e-12, 1e-6));
EXPECT_NEAR(recovered_quat[2], 0, MjTol(1e-12, 1e-6));
EXPECT_NEAR(recovered_quat[3], 0, MjTol(1e-12, 1e-6));
// same test on the other geom
mju_negPose(inverse_mesh_pos, inverse_mesh_quat,
@@ -994,14 +994,14 @@ TEST_F(MjCMeshTest, MeshPosQuat) {
mju_mulPose(recovered_pos, recovered_quat,
&model->geom_pos[3], &model->geom_quat[4],
inverse_mesh_pos, inverse_mesh_quat);
EXPECT_NEAR(recovered_pos[0], 1, 1e-12);
EXPECT_NEAR(recovered_pos[1], 2, 1e-12);
EXPECT_NEAR(recovered_pos[2], 3, 1e-12);
EXPECT_NEAR(recovered_pos[0], 1, MjTol(1e-12, 1e-6));
EXPECT_NEAR(recovered_pos[1], 2, MjTol(1e-12, 1e-6));
EXPECT_NEAR(recovered_pos[2], 3, MjTol(1e-12, 1e-6));
EXPECT_NEAR(recovered_quat[0], 0.5, 1e-12);
EXPECT_NEAR(recovered_quat[1], 0.5, 1e-12);
EXPECT_NEAR(recovered_quat[2], 0.5, 1e-12);
EXPECT_NEAR(recovered_quat[3], 0.5, 1e-12);
EXPECT_NEAR(recovered_quat[0], 0.5, MjTol(1e-12, 1e-6));
EXPECT_NEAR(recovered_quat[1], 0.5, MjTol(1e-12, 1e-6));
EXPECT_NEAR(recovered_quat[2], 0.5, MjTol(1e-12, 1e-6));
EXPECT_NEAR(recovered_quat[3], 0.5, MjTol(1e-12, 1e-6));
mj_deleteModel(model);
}
@@ -1038,14 +1038,14 @@ TEST_F(MjCMeshTest, MeshPosQuatShellInertia) {
mju_mulPose(recovered_pos, recovered_quat,
&model->geom_pos[0], &model->geom_quat[0],
inverse_mesh_pos, inverse_mesh_quat);
EXPECT_NEAR(recovered_pos[0], 0, 1e-12);
EXPECT_NEAR(recovered_pos[1], 0, 1e-12);
EXPECT_NEAR(recovered_pos[2], 0, 1e-12);
EXPECT_NEAR(recovered_pos[0], 0, MjTol(1e-12, 1e-6));
EXPECT_NEAR(recovered_pos[1], 0, MjTol(1e-12, 1e-6));
EXPECT_NEAR(recovered_pos[2], 0, MjTol(1e-12, 1e-6));
EXPECT_NEAR(recovered_quat[0], 1, 1e-12);
EXPECT_NEAR(recovered_quat[1], 0, 1e-12);
EXPECT_NEAR(recovered_quat[2], 0, 1e-12);
EXPECT_NEAR(recovered_quat[3], 0, 1e-12);
EXPECT_NEAR(recovered_quat[0], 1, MjTol(1e-12, 1e-6));
EXPECT_NEAR(recovered_quat[1], 0, MjTol(1e-12, 1e-6));
EXPECT_NEAR(recovered_quat[2], 0, MjTol(1e-12, 1e-6));
EXPECT_NEAR(recovered_quat[3], 0, MjTol(1e-12, 1e-6));
// same test on the other geom
mju_negPose(inverse_mesh_pos, inverse_mesh_quat,
@@ -1053,14 +1053,14 @@ TEST_F(MjCMeshTest, MeshPosQuatShellInertia) {
mju_mulPose(recovered_pos, recovered_quat,
&model->geom_pos[3], &model->geom_quat[4],
inverse_mesh_pos, inverse_mesh_quat);
EXPECT_NEAR(recovered_pos[0], 1, 1e-12);
EXPECT_NEAR(recovered_pos[1], 2, 1e-12);
EXPECT_NEAR(recovered_pos[2], 3, 1e-12);
EXPECT_NEAR(recovered_pos[0], 1, MjTol(1e-12, 1e-6));
EXPECT_NEAR(recovered_pos[1], 2, MjTol(1e-12, 1e-6));
EXPECT_NEAR(recovered_pos[2], 3, MjTol(1e-12, 1e-6));
EXPECT_NEAR(recovered_quat[0], 0.5, 1e-12);
EXPECT_NEAR(recovered_quat[1], 0.5, 1e-12);
EXPECT_NEAR(recovered_quat[2], 0.5, 1e-12);
EXPECT_NEAR(recovered_quat[3], 0.5, 1e-12);
EXPECT_NEAR(recovered_quat[0], 0.5, MjTol(1e-12, 1e-6));
EXPECT_NEAR(recovered_quat[1], 0.5, MjTol(1e-12, 1e-6));
EXPECT_NEAR(recovered_quat[2], 0.5, MjTol(1e-12, 1e-6));
EXPECT_NEAR(recovered_quat[3], 0.5, MjTol(1e-12, 1e-6));
mj_deleteModel(model);
}
@@ -1443,7 +1443,7 @@ TEST_F(MjCMeshTest, OctreeHangingNodeInterpolation) {
mjModel* model = mj_compile(spec, 0);
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_GT(model->mesh_octnum[0], 0);
double kEps = 1e-6;
const mjtNum kEps = MjTol(1e-6, 1e-4);
const int octree_adr = model->mesh_octadr[0];
const int noct = model->mesh_octnum[0];
@@ -1604,14 +1604,14 @@ TEST_F(MjCMeshTest, OctreeNotComputedForNonSDF) {
mj_deleteModel(model);
}
double CubeSDF(double p[3], double b[3]) {
double q[3] = {std::abs(p[0]) - b[0],
std::abs(p[1]) - b[1],
std::abs(p[2]) - b[2]};
return std::sqrt(std::pow(std::max(q[0], 0.0), 2) +
std::pow(std::max(q[1], 0.0), 2) +
std::pow(std::max(q[2], 0.0), 2)) +
std::min(std::max(q[0], std::max(q[1], q[2])), 0.0);
mjtNum CubeSDF(mjtNum p[3], mjtNum b[3]) {
mjtNum q[3] = {mju_abs(p[0]) - b[0],
mju_abs(p[1]) - b[1],
mju_abs(p[2]) - b[2]};
return mju_sqrt(std::pow(std::max(q[0], (mjtNum)0), 2) +
std::pow(std::max(q[1], (mjtNum)0), 2) +
std::pow(std::max(q[2], (mjtNum)0), 2)) +
std::min(std::max(q[0], std::max(q[1], q[2])), (mjtNum)0);
}
TEST_F(MjCMeshTest, OctreeCube) {