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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/user/user_model_test.cc
+5 -7
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@@ -31,7 +31,6 @@
namespace mujoco {
namespace {
using ::testing::DoubleNear;
using ::testing::ElementsAre;
using ::testing::HasSubstr;
using ::testing::IsNull;
@@ -168,8 +167,8 @@ TEST_F(UserModelTest, SameFrame) {
// expect them to be equal
constexpr double eps = 1e-6;
EXPECT_THAT(geom_xpos, Pointwise(DoubleNear(eps), geom_xpos2));
EXPECT_THAT(geom_xmat, Pointwise(DoubleNear(eps), geom_xmat2));
EXPECT_THAT(geom_xpos, Pointwise(MjNear(eps, eps), geom_xpos2));
EXPECT_THAT(geom_xmat, Pointwise(MjNear(eps, eps), geom_xmat2));
mj_deleteData(data);
mj_deleteModel(model);
@@ -606,7 +605,7 @@ TEST_F(FuseStaticTest, FuseStaticEquivalent) {
mj_step(m_fuse, d_fuse);
mj_step(m_no_fuse, d_no_fuse);
EXPECT_THAT(d_fuse->qvel[0], DoubleNear(d_no_fuse->qvel[0], 2e-17))
EXPECT_NEAR(d_fuse->qvel[0], d_no_fuse->qvel[0], MjTol(2e-17, 1e-8))
<< "Velocity should be the same after 1 step";
EXPECT_NE(d_fuse->qvel[0], 0);
@@ -887,9 +886,8 @@ TEST_F(LengthRangeTest, LengthRangeThreading) {
EXPECT_THAT(model1, NotNull()) << error;
// model is such that the lengthrange for first actuator is [1, sqrt(5)]
EXPECT_THAT(model1->actuator_lengthrange[0], DoubleNear(1.0, 1e-3));
EXPECT_THAT(model1->actuator_lengthrange[1],
DoubleNear(std::sqrt(5.0), 1e-3));
EXPECT_NEAR(model1->actuator_lengthrange[0], 1.0, 1e-3);
EXPECT_NEAR(model1->actuator_lengthrange[1], std::sqrt(5.0), 1e-3);
// recompile without threads
ASSERT_EQ(spec->compiler.usethread, 1);