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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/xml/xml_native_reader_test.cc
+15 -14
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@@ -1182,9 +1182,9 @@ TEST_F(XMLReaderTest, TendonArmature) {
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, NotNull()) << error.data();
EXPECT_EQ(m->ntendon, 3);
EXPECT_FLOAT_EQ(m->tendon_armature[0], 1.5);
EXPECT_FLOAT_EQ(m->tendon_armature[1], 2.5);
EXPECT_FLOAT_EQ(m->tendon_armature[2], 0);
EXPECT_MJTNUM_EQ(m->tendon_armature[0], 1.5);
EXPECT_MJTNUM_EQ(m->tendon_armature[1], 2.5);
EXPECT_MJTNUM_EQ(m->tendon_armature[2], 0);
mj_deleteModel(m);
}
@@ -1378,18 +1378,19 @@ TEST_F(XMLReaderTest, ParseReplicate) {
// check body positions
mjtNum pos[2] = {0, 0};
constexpr mjtNum tol = MjTol(1e-8, 1e-3);
for (int i = 1; i < 102; ++i) {
mjtNum theta = (i-1) * 1.8 * mjPI / 180;
EXPECT_NEAR(m->body_pos[3*i+0], pos[0] + sin(theta), 1e-8) << i;
EXPECT_NEAR(m->body_pos[3*i+1], pos[1] - cos(theta), 1e-8) << i;
EXPECT_NEAR(m->body_pos[3*i+2], (i-1) * .1, 1e-8);
EXPECT_NEAR(m->body_pos[3*i+0], pos[0] + sin(theta), tol) << i;
EXPECT_NEAR(m->body_pos[3*i+1], pos[1] - cos(theta), tol) << i;
EXPECT_NEAR(m->body_pos[3*i+2], (i-1) * .1, tol);
pos[0] += 3 * cos(theta);
pos[1] += 3 * sin(theta);
}
// check that the final pose is correct
int n = m->nbody-1;
EXPECT_NEAR(m->body_quat[4*n+0], 0, 1e-8);
EXPECT_NEAR(m->body_quat[4*n+0], 0, tol);
EXPECT_EQ(m->body_quat[4*n+1], 0);
EXPECT_EQ(m->body_quat[4*n+2], 0);
EXPECT_EQ(m->body_quat[4*n+3], 1);
@@ -2319,7 +2320,7 @@ TEST_F(HfieldParsingTest, NoData) {
EXPECT_EQ(model->hfield_size[0], 0.5);
EXPECT_EQ(model->hfield_size[1], 0.5);
EXPECT_EQ(model->hfield_size[2], 1);
EXPECT_EQ(model->hfield_size[3], 0.1);
EXPECT_MJTNUM_EQ(model->hfield_size[3], 0.1);
mj_deleteModel(model);
}
@@ -2360,7 +2361,7 @@ TEST_F(HfieldParsingTest, HasData) {
EXPECT_EQ(model->hfield_size[0], 0.5);
EXPECT_EQ(model->hfield_size[1], 0.5);
EXPECT_EQ(model->hfield_size[2], 1);
EXPECT_EQ(model->hfield_size[3], 0.1);
EXPECT_MJTNUM_EQ(model->hfield_size[3], 0.1);
// offset (minimum) and scaling (maximum) from normalizing operation
float offset = 1.0;
@@ -2809,10 +2810,10 @@ TEST_F(ActuatorParseTest, IntvelocityCheckEquivalence) {
EXPECT_DOUBLE_EQ(model->actuator_biasprm[mjNBIAS + 1], -2.5);
EXPECT_DOUBLE_EQ(model->actuator_biasprm[mjNBIAS + 2], 0.0);
// same actrange
EXPECT_DOUBLE_EQ(model->actuator_actrange[0 + 0], -1.57);
EXPECT_DOUBLE_EQ(model->actuator_actrange[0 + 1], 1.57);
EXPECT_DOUBLE_EQ(model->actuator_actrange[0 + 2], -1.57);
EXPECT_DOUBLE_EQ(model->actuator_actrange[0 + 3], 1.57);
EXPECT_MJTNUM_EQ(model->actuator_actrange[0 + 0], -1.57);
EXPECT_MJTNUM_EQ(model->actuator_actrange[0 + 1], 1.57);
EXPECT_MJTNUM_EQ(model->actuator_actrange[0 + 2], -1.57);
EXPECT_MJTNUM_EQ(model->actuator_actrange[0 + 3], 1.57);
mj_deleteModel(model);
}
@@ -3047,7 +3048,7 @@ TEST_F(ActuatorParseTest, MusclesParseSmoothdyn) {
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(model->actuator_dynprm[2], 0.0);
EXPECT_EQ(model->actuator_dynprm[mjNDYN + 2], 0.4);
EXPECT_MJTNUM_EQ(model->actuator_dynprm[mjNDYN + 2], 0.4);
mj_deleteModel(model);
}