Raise NotImplementedError for unsupported sensors in MJX. Update MJX feature parity docs to include fully supported sensors.
PiperOrigin-RevId: 673325233 Change-Id: Ib262bdd37937c5230765c11d1f61581e55e8c397
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Taylor Howell
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Copybara-Service
Copybara-Service
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@@ -214,6 +214,11 @@ The following features are **fully supported** in MJX:
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- :ref:`flInertia`
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- :ref:`flInertia`
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* - :ref:`Tendons <tendon>`
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* - :ref:`Tendons <tendon>`
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- :ref:`Fixed <tendon-fixed>`
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- :ref:`Fixed <tendon-fixed>`
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* - :ref:`Sensors <mjtSensor>`
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- ``MAGNETOMETER``, ``CAMPROJECTION``, ``RANGEFINDER``, ``JOINTPOS``, ``ACTUATORPOS``, ``BALLQUAT``, ``FRAMEPOS``,
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``FRAMEXAXIS``, ``FRAMEYAXIS``, ``FRAMEZAXIS``, ``FRAMEQUAT``, ``SUBTREECOM``, ``CLOCK``, ``VELOCIMETER``,
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``GYRO``, ``JOINTVEL``, ``ACTUATORVEL``, ``BALLANGVEL``, ``FRAMELINVEL``, ``FRAMEANGVEL``, ``SUBTREELINVEL``,
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``SUBTREEANGMOM``, ``ACCELEROMETER``, ``ACTUATORFRC``, ``JOINTACTFRC``.
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The following features are **in development** and coming soon:
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The following features are **in development** and coming soon:
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@@ -116,8 +116,7 @@ def put_model(
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(m.actuator_gaintype, types.GainType, mujoco.mjtGain),
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(m.actuator_gaintype, types.GainType, mujoco.mjtGain),
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(m.actuator_trntype, types.TrnType, mujoco.mjtTrn),
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(m.actuator_trntype, types.TrnType, mujoco.mjtTrn),
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(m.eq_type, types.EqType, mujoco.mjtEq),
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(m.eq_type, types.EqType, mujoco.mjtEq),
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# TODO(taylorhowell): causes Menagerie test to fail
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(m.sensor_type, types.SensorType, mujoco.mjtSensor),
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# (m.sensor_type, types.SensorType, mujoco.mjtSensor),
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(m.wrap_type, types.WrapType, mujoco.mjtWrap),
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(m.wrap_type, types.WrapType, mujoco.mjtWrap),
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):
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):
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missing = set(enum_field) - set(enum_type)
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missing = set(enum_field) - set(enum_type)
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@@ -93,11 +93,29 @@ class SensorTest(parameterized.TestCase):
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_assert_eq(random_sensor, dx.sensordata, 'sensordata')
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_assert_eq(random_sensor, dx.sensordata, 'sensordata')
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def test_unsupported_sensor(self):
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def test_unsupported_sensor(self):
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"""Tests MJX sensor functions do not break for unsupported sensors."""
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"""Tests unsupported sensor raises error."""
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m = test_util.load_test_file('sensor/unsupported.xml')
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m = mujoco.MjModel.from_xml_string("""
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mx = mjx.put_model(m)
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<mujoco>
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dx = jax.jit(mjx.forward)(mx, mjx.put_data(m, mujoco.MjData(m)))
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<worldbody>
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_assert_eq(np.zeros(m.nsensordata), dx.sensordata, 'sensordata')
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<body>
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<joint type="hinge"/>
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<geom name="geom0" size="0.1"/>
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<site name="site0"/>
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<body>
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<joint type="hinge"/>
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<geom name="geom1" size="0.25"/>
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<site name="site1"/>
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</body>
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</body>
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</worldbody>
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<sensor>
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<distance name="distance" geom1="geom0" geom2="geom1"/>
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<touch name="touch" site="site0"/>
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</sensor>
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</mujoco>
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""")
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with self.assertRaises(NotImplementedError):
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mjx.put_model(m)
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if __name__ == '__main__':
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if __name__ == '__main__':
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@@ -1,65 +0,0 @@
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<!-- For validating model with unsupported sensors -->
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<mujoco model="unsupported_sensor">
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<asset>
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<material name="material"/>
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</asset>
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<worldbody>
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<!-- tree 0 -->
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<body name="body0" pos="1 2 3">
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<joint name="hinge0" type="hinge" axis="1 0 0"/>
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<geom name="geom0" size="0.1" material="material"/>
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<site name="site_rangefinder0" pos="-1e-3 0 0.2"/>
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<site name="site_rangefinder1" pos="-1e-3 0 0.175"/>
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<site name="site0" pos=".1 .2 .3"/>
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<body name="body1" pos="0.1 0.2 0.3">
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<joint name="hinge1" type="hinge" axis="0 1 0"/>
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<geom name="geom1" size="0.25"/>
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<site name="site1" pos=".2 .4 .6"/>
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</body>
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</body>
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<!-- body 2 -->
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<body name="body2" pos=".1 .1 .1">
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<joint name="ballquat2" type="ball" pos="0.1 0.1 0.1"/>
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<geom name="geom2" size="1"/>
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</body>
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<!-- body 3 -->
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<body name="body3" pos="-.1 -.1 -.1">
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<joint name="ballquat3" type="ball" pos="0.1 0.2 0.3"/>
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<geom size="1"/>
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<site name="site3"/>
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</body>
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<!-- bodies for camera projection -->
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<body pos="11.1 0 1">
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<geom type="box" size=".1 .6 .375"/>
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<site name="frontorigin" pos="-.1 .6 .375"/>
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<site name="frontcenter" pos="-.1 0 0"/>
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</body>
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<body pos="10 0 0">
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<joint axis="0 0 1" range="-180 180" limited="false"/>
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<geom type="sphere" size=".2" pos="0 0 0.9"/>
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<camera pos="0 0 1" xyaxes="0 -1 0 0 0 1" fovy="41.11209"
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resolution="1920 1200" name="fixedcamera"/>
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</body>
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<!-- body for rangefinder -->
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<body name="body_rangefinder" pos="1 2 4">
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<geom size="0.01" material="material"/>
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</body>
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</worldbody>
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<actuator>
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<motor name="motor0" joint="hinge0" ctrlrange="-1 1" gear="10"
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ctrllimited="true"/>
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<motor name="motor1" joint="hinge1" ctrlrange="-1 1" gear="10"
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ctrllimited="true"/>
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</actuator>
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<sensor>
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<distance name="distance" geom1="geom0" geom2="geom1"/>
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<framelinvel name="framelinvel" objtype="site" objname="site0"/>
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<touch name="touch" site="site0"/>
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</sensor>
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</mujoco>
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