chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Improve island-constraint testing model.

Browse Source 
PiperOrigin-RevId: 561931744
Change-Id: I2826d4c5b987cc6edd761026f6734fe40fb31278
This commit is contained in:
Yuval Tassa
2023-09-01 05:51:26 -07:00
committed by Copybara-Service
parent 5279ce6f6f
commit 70c5fa50f2
5 changed files with 45 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/engine/engine_core_constraint_test.cc
+2 -2
View File
@@ -215,9 +215,9 @@ TEST_F(CoreConstraintTest, MulJacVecIsland) {
for (mjtJacobian sparsity : {mjJAC_DENSE, mjJAC_SPARSE}) {
model->opt.jacobian = sparsity;
// simulate for 0.3 seconds
// simulate for 0.2 seconds
mj_resetData(model, data);
while (data->time < 0.3) {
while (data->time < 0.2) {
mj_step(model, data);
}
mj_forward(model, data);
test/engine/engine_core_smooth_test.cc
+2 -2
View File
@@ -311,9 +311,9 @@ TEST_F(CoreSmoothTest, SolveMIsland) {
}
mju_copy(res, vec, nv);
// simulate for 0.3 seconds
// simulate for 0.2 seconds
mj_resetData(model, data);
while (data->time < 0.3) {
while (data->time < 0.2) {
mj_step(model, data);
}
mj_forward(model, data);
test/engine/engine_island_test.cc
+15 -13
View File
@@ -346,7 +346,7 @@ TEST_F(IslandTest, IslandEfc) {
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
mjData* data = mj_makeData(model);
while (data->time < 0.3) {
while (data->time < 0.2) {
mj_step(model, data);
}
@@ -356,25 +356,27 @@ TEST_F(IslandTest, IslandEfc) {
int nisland = data->nisland;
// expect island structure to correspond to comment at top of xml
EXPECT_EQ(nisland, 2);
EXPECT_EQ(nisland, 3);
EXPECT_EQ(data->ne, 1);
EXPECT_EQ(data->nf, 1);
EXPECT_EQ(data->nf, 2);
EXPECT_EQ(data->nl, 1);
EXPECT_EQ(nefc, 7);
EXPECT_EQ(nefc, 24);
EXPECT_THAT(AsVector(data->dof_island, nv),
ElementsAre(0, -1, 0, 0, 0, 1, 0));
EXPECT_THAT(AsVector(data->island_dofnum, nisland), ElementsAre(5, 1));
EXPECT_THAT(AsVector(data->island_dofadr, nisland), ElementsAre(0, 5));
ElementsAre(0, -1, 0, 0, 0, 1, 2, 0, 1, 1, 1, 1, 1, 1));
EXPECT_THAT(AsVector(data->island_dofnum, nisland), ElementsAre(5, 7, 1));
EXPECT_THAT(AsVector(data->island_dofadr, nisland), ElementsAre(0, 5, 12));
EXPECT_THAT(AsVector(data->island_dofind, nv),
ElementsAre(0, 2, 3, 4, 6, 5, -1));
ElementsAre(0, 2, 3, 4, 7, 5, 8, 9, 10, 11, 12, 13, 6, -1));
EXPECT_THAT(AsVector(data->dof_islandind, nv),
ElementsAre(0, -1, 1, 2, 3, 0, 4));
ElementsAre(0, -1, 1, 2, 3, 0, 0, 4, 1, 2, 3, 4, 5, 6));
EXPECT_THAT(AsVector(data->efc_island, nefc),
ElementsAre(0, 1, 0, 0, 0, 0, 0));
EXPECT_THAT(AsVector(data->island_efcnum, nisland), ElementsAre(6, 1));
EXPECT_THAT(AsVector(data->island_efcadr, nisland), ElementsAre(0, 6));
ElementsAre(0, 1, 2, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1));
EXPECT_THAT(AsVector(data->island_efcnum, nisland), ElementsAre(6, 17, 1));
EXPECT_THAT(AsVector(data->island_efcadr, nisland), ElementsAre(0, 6, 23));
EXPECT_THAT(AsVector(data->island_efcind, nefc),
ElementsAre(0, 2, 3, 4, 5, 6, 1));
ElementsAre(0, 3, 4, 5, 6, 7, 1, 8, 9, 10, 11, 12, 13, 14, 15, 16,
17, 18, 19, 20, 21, 22, 23, 2));
mj_deleteData(data);
mj_deleteModel(model);
test/engine/engine_support_test.cc
+2 -2
View File
@@ -469,9 +469,9 @@ TEST_F(SupportTest, MulMIsland) {
vec[i] = 0.2 + 0.3*i;
}
// simulate for 0.3 seconds
// simulate for 0.2 seconds
mj_resetData(model, data);
while (data->time < 0.3) {
while (data->time < 0.2) {
mj_step(model, data);
}
mj_forward(model, data);
test/engine/testdata/island/island_efc.xml
Vendored
+24 -5
View File
@@ -1,10 +1,10 @@
<!--
test model for constraint islanding:
- one equality
- one limit
- one friction
- one unconstrained dof
- two islands, one with non-contiguous dofs
- 1 equality
- 1 limit
- 2 friction constraints
- 1 unconstrained dof
- 3 islands, 2 with non-contiguous dofs
-->
<mujoco>
@@ -16,15 +16,22 @@
<geom size=".1"/>
</default>
<visual>
<headlight diffuse=".9 .9 .9"/>
</visual>
<worldbody>
<body>
<joint type="slide" axis="0 0 1" range="0 1" limited="true"/>
<geom/>
</body>
<body pos=".25 0 0">
<joint type="slide" axis="1 0 0"/>
<geom/>
</body>
<body pos="0 0 0.25">
<joint type="slide" axis="0 0 1"/>
<geom/>
@@ -37,14 +44,26 @@
</body>
</body>
</body>
<body pos=".5 0 0">
<joint type="slide" axis="0 0 1" frictionloss="15"/>
<geom type="box" size=".08 .08 .02" euler="0 10 0"/>
</body>
<body pos="-.5 0 0">
<joint axis="0 1 0" frictionloss=".01"/>
<geom type="capsule" size="0.03" fromto="0 0 0 -.2 0 0"/>
</body>
<body pos="0 0 .5">
<joint name="hinge2" axis="0 1 0"/>
<geom type="box" size=".08 .02 .08"/>
</body>
<body pos=".5 0 .1">
<freejoint/>
<geom type="box" size=".03 .03 .03" pos="0.01 0.01 0.01"/>
</body>
</worldbody>
<equality>