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Allow for different MJX backend implementations.

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PiperOrigin-RevId: 755935704
Change-Id: Ic135cd00137c2857c73c683ed9fdc5ac4418715d
This commit is contained in:
Baruch Tabanpour
2025-05-07 11:27:57 -07:00
committed by Copybara-Service
parent 421c487d9d
commit 6cfea71985
24 changed files with 2182 additions and 1504 deletions
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mjx/mujoco/mjx/_src/support_test.py
+4 -4
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@@ -385,7 +385,7 @@ class SupportTest(parameterized.TestCase):
# map MJX contacts to MJ ones
def _find(g):
val = (g == dx.contact.geom).sum(axis=1)
val = (g == dx._impl.contact.geom).sum(axis=1)
return np.where(val == 2)[0][0]
contact_id_map = {i: _find(d.contact.geom[i]) for i in range(d.ncon)}
@@ -399,7 +399,7 @@ class SupportTest(parameterized.TestCase):
np.testing.assert_allclose(result, force, rtol=1e-5, atol=2)
# check for zeros after first condim elements
condim = dx.contact.dim[j]
condim = dx._impl.contact.dim[j]
if condim < 6:
np.testing.assert_allclose(force[condim:], 0, rtol=1e-5, atol=1e-5)
@@ -412,8 +412,8 @@ class SupportTest(parameterized.TestCase):
),
)(mx, dx, j, True)
# back to contact frame
force = force.at[:3].set(dx.contact.frame[j] @ force[:3])
force = force.at[3:].set(dx.contact.frame[j] @ force[3:])
force = force.at[:3].set(dx._impl.contact.frame[j] @ force[:3])
force = force.at[3:].set(dx._impl.contact.frame[j] @ force[3:])
np.testing.assert_allclose(result, force, rtol=1e-5, atol=2)
def test_wrap_inside(self):