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Clean up engine_derivative_test.cc

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PiperOrigin-RevId: 730166629
Change-Id: I3418be9f7b289f4109ae43c221b89199d2ccf325
This commit is contained in:
Yuval Tassa
2025-02-23 10:58:41 -08:00
committed by Copybara-Service
parent c52d1b3941
commit 81b1948b46
1 changed files with 46 additions and 59 deletions
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test/engine/engine_derivative_test.cc
+46 -59
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@@ -28,13 +28,12 @@
#include "src/engine/engine_forward.h" #include "src/engine/engine_forward.h"
#include "src/engine/engine_io.h" #include "src/engine/engine_io.h"
#include "src/engine/engine_util_blas.h" #include "src/engine/engine_util_blas.h"
#include "src/engine/engine_util_errmem.h"
#include "src/engine/engine_util_sparse.h"
#include "test/fixture.h" #include "test/fixture.h"
namespace mujoco { namespace mujoco {
namespace { namespace {
using ::std::vector;
using ::testing::Pointwise; using ::testing::Pointwise;
using ::testing::DoubleNear; using ::testing::DoubleNear;
using ::testing::Eq; using ::testing::Eq;
@@ -120,7 +119,7 @@ TEST_F(DerivativeTest, SmoothDvel) {
// expect derivatives to be non-zero, make copy of qDeriv as a vector // expect derivatives to be non-zero, make copy of qDeriv as a vector
EXPECT_GT(mju_norm(data->qDeriv, nD), 0); EXPECT_GT(mju_norm(data->qDeriv, nD), 0);
std::vector<mjtNum> qDerivAnalytic = AsVector(data->qDeriv, nD); vector<mjtNum> qDerivAnalytic = AsVector(data->qDeriv, nD);
// compute finite-difference derivatives // compute finite-difference derivatives
mjtNum eps = 1e-7; mjtNum eps = 1e-7;
@@ -364,13 +363,13 @@ TEST_F(DerivativeTest, StepSkip) {
} }
// save state // save state
std::vector<mjtNum> qpos = AsVector(data->qpos, nq); vector<mjtNum> qpos = AsVector(data->qpos, nq);
std::vector<mjtNum> qvel = AsVector(data->qvel, nv); vector<mjtNum> qvel = AsVector(data->qvel, nv);
// take one more step, save next state // take one more step, save next state
mj_step(model, data); mj_step(model, data);
std::vector<mjtNum> qpos_next = AsVector(data->qpos, nq); vector<mjtNum> qpos_next = AsVector(data->qpos, nq);
std::vector<mjtNum> qvel_next = AsVector(data->qvel, nv); vector<mjtNum> qvel_next = AsVector(data->qvel, nv);
// reset state, take step again, compare (assert mj_step is deterministic) // reset state, take step again, compare (assert mj_step is deterministic)
mju_copy(data->qpos, qpos.data(), nq); mju_copy(data->qpos, qpos.data(), nq);
@@ -384,8 +383,8 @@ TEST_F(DerivativeTest, StepSkip) {
mju_copy(data->qvel, qvel.data(), nv); mju_copy(data->qvel, qvel.data(), nv);
data->ctrl[0] = 1; data->ctrl[0] = 1;
mj_stepSkip(model, data, mjSTAGE_VEL, 0); // skipping both POS and VEL mj_stepSkip(model, data, mjSTAGE_VEL, 0); // skipping both POS and VEL
std::vector<mjtNum> qpos_next_dctrl = AsVector(data->qpos, nq); vector<mjtNum> qpos_next_dctrl = AsVector(data->qpos, nq);
std::vector<mjtNum> qvel_next_dctrl = AsVector(data->qvel, nv); vector<mjtNum> qvel_next_dctrl = AsVector(data->qvel, nv);
// reset state (ctrl remains unchanged), call full mj_step, compare // reset state (ctrl remains unchanged), call full mj_step, compare
mju_copy(data->qpos, qpos.data(), nq); mju_copy(data->qpos, qpos.data(), nq);
@@ -399,8 +398,8 @@ TEST_F(DerivativeTest, StepSkip) {
mju_copy(data->qvel, qvel.data(), nv); mju_copy(data->qvel, qvel.data(), nv);
data->qvel[0] += 1; data->qvel[0] += 1;
mj_stepSkip(model, data, mjSTAGE_POS, 0); // skipping POS mj_stepSkip(model, data, mjSTAGE_POS, 0); // skipping POS
std::vector<mjtNum> qpos_next_dvel = AsVector(data->qpos, nq); vector<mjtNum> qpos_next_dvel = AsVector(data->qpos, nq);
std::vector<mjtNum> qvel_next_dvel = AsVector(data->qvel, nv); vector<mjtNum> qvel_next_dvel = AsVector(data->qvel, nv);
// reset state, change velocity, call full mj_step, compare // reset state, change velocity, call full mj_step, compare
mju_copy(data->qpos, qpos.data(), nq); mju_copy(data->qpos, qpos.data(), nq);
@@ -796,22 +795,17 @@ TEST_F(DerivativeTest, LinearSystemInverse) {
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0); mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
mjData* data = mj_makeData(model); mjData* data = mj_makeData(model);
static const int nv = 3; int nv = model->nv;
EXPECT_EQ(nv, model->nv); int ns = model->nsensordata;
static const int nu = 2; int nM = model->nM;
EXPECT_EQ(nu, model->nu);
static const int ns = 5;
EXPECT_EQ(ns, model->nsensordata);
static const int nM = 6;
EXPECT_EQ(nM, model->nM);
mjtNum DfDq[nv*nv]; vector<mjtNum> DfDq(nv*nv);
mjtNum DfDv[nv*nv]; vector<mjtNum> DfDv(nv*nv);
mjtNum DfDa[nv*nv]; vector<mjtNum> DfDa(nv*nv);
mjtNum DsDq[nv*ns]; vector<mjtNum> DsDq(nv*ns);
mjtNum DsDv[nv*ns]; vector<mjtNum> DsDv(nv*ns);
mjtNum DsDa[nv*ns]; vector<mjtNum> DsDa(nv*ns);
mjtNum DmDq[nv*nM]; vector<mjtNum> DmDq(nv*nM);
// call mj_forward to get accelerations at initial state // call mj_forward to get accelerations at initial state
mj_forward(model, data); mj_forward(model, data);
@@ -820,61 +814,54 @@ TEST_F(DerivativeTest, LinearSystemInverse) {
mjtNum eps = 1e-6; mjtNum eps = 1e-6;
mjtByte flg_actuation = 0; mjtByte flg_actuation = 0;
mjd_inverseFD(model, data, eps, flg_actuation, mjd_inverseFD(model, data, eps, flg_actuation,
DfDq, DfDv, DfDa, DfDq.data(), DfDv.data(), DfDa.data(),
DsDq, DsDv, DsDa, DsDq.data(), DsDv.data(), DsDa.data(),
DmDq); DmDq.data());
// expect that position derivatives are the stiffnesses // expect that position derivatives are the stiffnesses
mjtNum DfDq_expect[3*3] = {model->jnt_stiffness[0], 0, 0, vector<mjtNum> DfDq_expect = {model->jnt_stiffness[0], 0, 0,
0, model->jnt_stiffness[1], 0, 0, model->jnt_stiffness[1], 0,
0, 0, model->jnt_stiffness[2]}; 0, 0, model->jnt_stiffness[2]};
EXPECT_THAT(AsVector(DfDq, nv*nv), EXPECT_THAT(DfDq, Pointwise(DoubleNear(eps), DfDq_expect));
Pointwise(DoubleNear(eps), AsVector(DfDq_expect, nv*nv)));
// expect that velocity derivatives are the dampings // expect that velocity derivatives are the dampings
mjtNum DfDv_expect[3*3] = {model->dof_damping[0], 0, 0, vector<mjtNum> DfDv_expect = {model->dof_damping[0], 0, 0,
0, model->dof_damping[1], 0, 0, model->dof_damping[1], 0,
0, 0, model->dof_damping[2]}; 0, 0, model->dof_damping[2]};
EXPECT_THAT(AsVector(DfDv, nv*nv), EXPECT_THAT(DfDv, Pointwise(DoubleNear(eps), DfDv_expect));
Pointwise(DoubleNear(eps), AsVector(DfDv_expect, nv*nv)));
// expect that acceleration derivatives are the mass matrix // expect that acceleration derivatives are the mass matrix
mjtNum DfDa_expect[3*3]; vector<mjtNum> DfDa_expect(nv*nv, 0);
mj_fullM(model, DfDa_expect, data->qM); mj_fullM(model, DfDa_expect.data(), data->qM);
EXPECT_THAT(AsVector(DfDa, nv*nv), EXPECT_THAT(DfDa, Pointwise(DoubleNear(eps), DfDa_expect));
Pointwise(DoubleNear(eps), AsVector(DfDa_expect, nv*nv)));
// expect that sensor derivatives w.r.t position only see sensor 1 at dof 0 // expect that sensor derivatives w.r.t position only see sensor 1 at dof 0
mjtNum DsDq_expect[3*5] = {0}; vector<mjtNum> DsDq_expect(nv*ns, 0);
int dof_index = 0; int dof_index = 0;
int sensordata_index = model->sensor_adr[1]; int sensordata_index = model->sensor_adr[1];
DsDq_expect[dof_index*ns + sensordata_index] = 1; DsDq_expect[dof_index*ns + sensordata_index] = 1;
EXPECT_THAT(AsVector(DsDq, nv*ns), EXPECT_THAT(DsDq, Pointwise(DoubleNear(eps), DsDq_expect));
Pointwise(DoubleNear(eps), AsVector(DsDq_expect, nv*ns)));
// expect that sensor derivatives w.r.t velocity only see sensor 0 at dof 1 // expect that sensor derivatives w.r.t velocity only see sensor 0 at dof 1
mjtNum DsDv_expect[3*5] = {0}; vector<mjtNum> DsDv_expect(nv*ns, 0);
dof_index = 1; dof_index = 1;
sensordata_index = model->sensor_adr[0]; sensordata_index = model->sensor_adr[0];
DsDv_expect[dof_index*ns + sensordata_index] = 1; DsDv_expect[dof_index*ns + sensordata_index] = 1;
EXPECT_THAT(AsVector(DsDv, nv*ns), EXPECT_THAT(DsDv, Pointwise(DoubleNear(eps), DsDv_expect));
Pointwise(DoubleNear(eps), AsVector(DsDv_expect, nv*ns)));
// expect that sensor derivatives w.r.t acceleration see the accelerometer // expect that sensor derivatives w.r.t acceleration see the accelerometer
// in the y-axis, affected by both dof 0 and dof 1 // in the y-axis, affected by both dof 0 and dof 1
mjtNum DsDa_expect[3*5] = {0}; vector<mjtNum> DsDa_expect(nv*ns, 0);
dof_index = 0; dof_index = 0;
sensordata_index = model->sensor_adr[2] + 1; sensordata_index = model->sensor_adr[2] + 1;
DsDa_expect[dof_index*ns + sensordata_index] = 1; DsDa_expect[dof_index*ns + sensordata_index] = 1;
dof_index = 1; dof_index = 1;
DsDa_expect[dof_index*ns + sensordata_index] = 1; DsDa_expect[dof_index*ns + sensordata_index] = 1;
EXPECT_THAT(AsVector(DsDa, nv*ns), EXPECT_THAT(DsDa, Pointwise(DoubleNear(eps), DsDa_expect));
Pointwise(DoubleNear(eps), AsVector(DsDa_expect, nv*ns)));
// expect that mass matrix derivatives are zero // expect that mass matrix derivatives are zero
mjtNum DmDq_expect[nv*nM] = {0}; vector<mjtNum> DmDq_expect(nv*nM, 0);
EXPECT_THAT(AsVector(DmDq, nv*nM), EXPECT_THAT(DmDq, Pointwise(DoubleNear(eps), DmDq_expect));
Pointwise(DoubleNear(eps), AsVector(DmDq_expect, nv*nM)));
mj_deleteData(data); mj_deleteData(data);
mj_deleteModel(model); mj_deleteModel(model);
@@ -904,8 +891,8 @@ void randomQuatPair(mjtNum qa[4], mjtNum qb[4], mjtNum angle, int seed) {
} }
// utility: finite-difference Jacobians of mju_subQuat // utility: finite-difference Jacobians of mju_subQuat
void mjd_subQuatFD(mjtNum Da[9], mjtNum Db[9], static void subQuatFD(mjtNum Da[9], mjtNum Db[9],
const mjtNum qa[4], const mjtNum qb[4], mjtNum eps) { const mjtNum qa[4], const mjtNum qb[4], mjtNum eps) {
// subQuat // subQuat
mjtNum y[3]; mjtNum y[3];
mju_subQuat(y, qa, qb); mju_subQuat(y, qa, qb);
@@ -966,7 +953,7 @@ TEST_F(DerivativeTest, SubQuat) {
// finite-differenced Jacobians // finite-differenced Jacobians
mjtNum DaFD[9]; mjtNum DaFD[9];
mjtNum DbFD[9]; mjtNum DbFD[9];
mjd_subQuatFD(DaFD, DbFD, qa, qb, eps); subQuatFD(DaFD, DbFD, qa, qb, eps);
// expect numerical equality // expect numerical equality
EXPECT_THAT(AsVector(DaFD, 9), EXPECT_THAT(AsVector(DaFD, 9),
@@ -978,7 +965,7 @@ TEST_F(DerivativeTest, SubQuat) {
} }
// utility: random quaternion, 3D velocity // utility: random quaternion, 3D velocity
void randomQuatVel(mjtNum quat[4], mjtNum vel[3], int seed) { static void randomQuatVel(mjtNum quat[4], mjtNum vel[3], int seed) {
// make distribution using seed // make distribution using seed
std::mt19937_64 rng; std::mt19937_64 rng;
rng.seed(seed); rng.seed(seed);