Fix ARM issues with tests with nativeccd.

Note: frameless_contact_hfield.xml doesn't work with libccd nor nativeccd on ARM as expected. PiperOrigin-RevId: 698317464 Change-Id: I4c57e04639b9870b416c67d79a16a313c5276cf6
google-deepmind · Nov 20, 2024 · 867e8b8 · 867e8b8
1 parent 34c6f9b
commit 867e8b8
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diff --git a/test/engine/engine_collision_gjk_test.cc b/test/engine/engine_collision_gjk_test.cc
@@ -335,6 +335,11 @@ TEST_F(MjGjkTest, SmallBoxMesh) {
   EXPECT_NEAR(dir[1], 0, kTolerance);
   EXPECT_NEAR(dir[2], 1, kTolerance);
 
+  // position
+  EXPECT_NEAR(mju_abs(pos[0]), 0.08333333, kTolerance);  // -pos[0] on ARM
+  EXPECT_NEAR(pos[1], 0, kTolerance);
+  EXPECT_NEAR(pos[2], 0, kTolerance);
+
   mj_deleteData(data);
   mj_deleteModel(model);
 }

diff --git a/test/xml/xml_native_writer_test.cc b/test/xml/xml_native_writer_test.cc
@@ -1319,6 +1319,7 @@ TEST_F(XMLWriterTest, WriteReadCompare) {
             absl::StrContains(p.path().string(), "gmsh_") ||
             absl::StrContains(p.path().string(), "shark_") ||
             absl::StrContains(p.path().string(), "cow") ||
+            absl::StrContains(p.path().string(), "frameless_contact_hfield") ||
             absl::StrContains(p.path().string(), "spheremesh")) {
           continue;
         }