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Simplify pendula test data. Fix bug in `scan.body_tree` that led to incorrect smooth dynamics for some kinematic tree layouts.

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PiperOrigin-RevId: 582125477
Change-Id: I47505ceb4be4c88052bc670f401b8c45ff320bbd
This commit is contained in:
Erik Frey
2023-11-13 16:48:12 -08:00
committed by Copybara-Service
parent 97ad543051
commit c8146372cf
16 changed files with 263 additions and 254 deletions
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doc/changelog.rst
+1
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@@ -59,6 +59,7 @@ MJX
- Fixed bug where mixed ``jnt_limited`` joints were not being constrained correctly.
- Made ``device_put`` type validation more verbose (fixes :github:issue:`1113`).
- Removed empty EFC rows from ``MJX``, for joints with no limits (fixes :github:issue:`1117`).
- Fixed bug in ``scan.body_tree`` that led to incorrect smooth dynamics for some kinematic tree layouts.
Python bindings
^^^^^^^^^^^^^^^
mjx/mujoco/mjx/_src/constraint.py
+2 -2
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@@ -321,10 +321,10 @@ def count_constraints(m: Model, d: Data) -> Tuple[int, int, int, int]:
if m.opt.disableflags & DisableBit.EQUALITY:
ne = 0
else:
ne_weld = (m.eq_type == EqType.WELD).sum()
ne_connect = (m.eq_type == EqType.CONNECT).sum()
ne_weld = (m.eq_type == EqType.WELD).sum()
ne_joint = (m.eq_type == EqType.JOINT).sum()
ne = ne_weld * 6 + ne_connect * 3 + ne_joint
ne = ne_connect * 3 + ne_weld * 6 + ne_joint
nf = 0
mjx/mujoco/mjx/_src/constraint_test.py
+1 -1
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@@ -37,7 +37,7 @@ def _assert_eq(a, b, name, step, fname, atol=5e-3, rtol=5e-3):
class ConstraintTest(parameterized.TestCase):
@parameterized.parameters(enumerate(test_util.TEST_FILES))
def testconstraints(self, seed, fname):
def test_constraints(self, seed, fname):
"""Test constraints."""
np.random.seed(seed)
mjx/mujoco/mjx/_src/forward_test.py
+56 -34
View File
@@ -14,8 +14,6 @@
# ==============================================================================
"""Tests for forward functions."""
import itertools
from absl.testing import absltest
from absl.testing import parameterized
import jax
@@ -38,13 +36,12 @@ def _assert_attr_eq(a, b, attr, step, fname, atol=1e-3, rtol=1e-3):
class ForwardTest(parameterized.TestCase):
@parameterized.parameters(enumerate(test_util.TEST_FILES))
def test_forward(self, seed, fname):
@parameterized.parameters(
filter(lambda s: s not in ('equality.xml',), test_util.TEST_FILES)
)
def test_forward(self, fname):
"""Test mujoco mj forward function matches mujoco_mjx forward function."""
if fname in ('equality.xml',):
return
np.random.seed(seed)
np.random.seed(test_util.TEST_FILES.index(fname))
m = test_util.load_test_file(fname)
d = mujoco.MjData(m)
@@ -62,36 +59,20 @@ class ForwardTest(parameterized.TestCase):
_assert_attr_eq(d, dx, 'qfrc_smooth', i, fname)
_assert_attr_eq(d, dx, 'qacc_smooth', i, fname)
@parameterized.parameters(itertools.product(test_util.TEST_FILES, (0, 1)))
def test_step(self, fname, integrator_type):
@parameterized.parameters(
filter(lambda s: s not in ('equality.xml',), test_util.TEST_FILES)
)
def test_step(self, fname):
"""Test mujoco mj step matches mujoco_mjx step."""
if fname in (
'mixed_joint_pendulum.xml',
'ball_pendulum.xml',
'convex.xml',
'humanoid.xml',
'triple_pendulum.xml', # TODO(b/301485081)
'equality.xml',
):
# skip models with big constraint violations at step 0 or too slow to run
return
np.random.seed(integrator_type)
np.random.seed(test_util.TEST_FILES.index(fname))
m = test_util.load_test_file(fname)
step_jit_fn = jax.jit(forward.step)
m.opt.integrator = integrator_type
int_typ = 'euler' if integrator_type == 0 else 'rk4'
test_name = f'{fname} - {int_typ}'
steps = 100 if int_typ == 'euler' else 30
dt = m.opt.timestep
m.opt.timestep = dt if int_typ == 'euler' else dt * 3
mx = mjx.device_put(m)
d = mujoco.MjData(m)
# give the system a little kick to ensure we have non-identity rotations
d.qvel = np.random.normal(m.nv) * 0.05
for i in range(steps):
for i in range(100):
# in order to avoid re-jitting, reuse the same mj_data shape
qpos, qvel = d.qpos, d.qvel
d = mujoco.MjData(m)
@@ -101,10 +82,51 @@ class ForwardTest(parameterized.TestCase):
mujoco.mj_step(m, d)
dx = step_jit_fn(mx, dx)
_assert_attr_eq(d, dx, 'qvel', i, test_name, atol=1e-2)
_assert_attr_eq(d, dx, 'qpos', i, test_name, atol=1e-2)
_assert_attr_eq(d, dx, 'act', i, test_name)
_assert_attr_eq(d, dx, 'time', i, test_name)
_assert_attr_eq(d, dx, 'qvel', i, fname, atol=1e-2)
_assert_attr_eq(d, dx, 'qpos', i, fname, atol=1e-2)
_assert_attr_eq(d, dx, 'act', i, fname)
_assert_attr_eq(d, dx, 'time', i, fname)
def test_rk4(self):
m = mujoco.MjModel.from_xml_string("""
<mujoco>
<option integrator="RK4">
<flag constraint="disable"/>
</option>
<worldbody>
<light pos="0 0 1"/>
<geom type="plane" size="1 1 .01" pos="0 0 -1"/>
<body pos="0.15 0 0">
<joint type="hinge" axis="0 1 0"/>
<geom type="capsule" size="0.02" fromto="0 0 0 .1 0 0"/>
<body pos="0.1 0 0">
<joint type="slide" axis="1 0 0" stiffness="200"/>
<geom type="capsule" size="0.015" fromto="-.1 0 0 .1 0 0"/>
</body>
</body>
</worldbody>
</mujoco>
""")
step_jit_fn = jax.jit(forward.step)
mx = mjx.device_put(m)
d = mujoco.MjData(m)
# give the system a little kick to ensure we have non-identity rotations
d.qvel = np.random.normal(m.nv) * 0.05
for i in range(100):
# in order to avoid re-jitting, reuse the same mj_data shape
qpos, qvel = d.qpos, d.qvel
d = mujoco.MjData(m)
d.qpos, d.qvel = qpos, qvel
dx = mjx.device_put(d)
mujoco.mj_step(m, d)
dx = step_jit_fn(mx, dx)
_assert_attr_eq(d, dx, 'qvel', i, 'test_rk4', atol=1e-2)
_assert_attr_eq(d, dx, 'qpos', i, 'test_rk4', atol=1e-2)
_assert_attr_eq(d, dx, 'act', i, 'test_rk4')
_assert_attr_eq(d, dx, 'time', i, 'test_rk4')
def test_disable_eulerdamp(self):
m = test_util.load_test_file('ant.xml')
mjx/mujoco/mjx/_src/passive_test.py
+3 -3
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@@ -26,7 +26,7 @@ from mujoco import mjx
import numpy as np
def _assert_attr_eq(a, b, attr, step, fname, atol=1e-5, rtol=1e-5):
def _assert_attr_eq(a, b, attr, step, fname, atol=1e-4, rtol=1e-4):
err_msg = f'mismatch: {attr} at step {step} in {fname}'
a, b = getattr(a, attr), getattr(b, attr)
np.testing.assert_allclose(a, b, err_msg=err_msg, atol=atol, rtol=rtol)
@@ -34,7 +34,7 @@ def _assert_attr_eq(a, b, attr, step, fname, atol=1e-5, rtol=1e-5):
class PassiveTest(parameterized.TestCase):
@parameterized.parameters(enumerate(('ant.xml', 'mixed_joint_pendulum.xml')))
@parameterized.parameters(enumerate(('ant.xml', 'pendula.xml')))
def test_stiffness_damping(self, seed, fname):
"""Tests stiffness and damping on Ant."""
np.random.seed(seed)
@@ -60,7 +60,7 @@ class PassiveTest(parameterized.TestCase):
_assert_attr_eq(d, dx, 'qfrc_passive', i, fname)
@parameterized.parameters(
itertools.product(range(3), ('triple_pendulum.xml',))
itertools.product(range(3), ('pendula.xml',))
)
def test_fluid(self, seed, fname):
np.random.seed(seed)
mjx/mujoco/mjx/_src/scan.py
+92 -58
View File
@@ -162,7 +162,7 @@ def flat(
) -> Y:
r"""Scan a function across bodies or actuators.
Scan group data according to type and batch shape then calls vmap(f) on it.\
Scan group data according to type and batch shape then calls vmap(f) on it.
Args:
m: an mjx model
@@ -340,48 +340,88 @@ def body_tree(
IndexError: if function output shape does not match out_types shape
"""
_check_input(m, args, in_types)
depth_fn = lambda i, p=m.body_parentid: int(i > 0) and 1 + depth_fn(p[i])
typ_body_id = {
'j': m.jnt_bodyid,
'v': m.dof_bodyid,
'q': _q_bodyid(m),
}
key_parents = {}
# build up groupings of bodies and type ids using (level, (jnt_type,)) keys
key_typ_ids, key_body_ids = {}, {}
for body_id in np.arange(m.nbody, dtype=np.int32):
depth = depth_fn(body_id)
# group together bodies that will be processed together. grouping key:
# 1) the tree depth: parent bodies are processed first, so that they are
# available as carry input to child bodies (or reverse if reverse=True)
# 2) the types of arguments passed to f, both carry and *args:
# * for 'b' arguments, there is no extra grouping
# * for 'j' arguments, we group by joint type
# * for 'q' arguments, we group by q width
# * for 'v' arguments, we group by dof width
depths = np.zeros(m.nbody, dtype=np.int32)
# create grouping key
if any(t in 'jqv' for t in in_types + out_types):
jnts = np.nonzero(typ_body_id['j'] == body_id)[0]
jnts_p = np.nonzero(typ_body_id['j'] == m.body_parentid[body_id])[0]
key = depth, tuple(m.jnt_type[jnts])
parent_key = depth - 1, tuple(m.jnt_type[jnts_p])
else:
key, parent_key = (depth, ()), (depth - 1, ())
# map key => body id
key_body_ids = {}
for body_id in range(m.nbody):
parent_id = -1
if body_id > 0:
parent_id = m.body_parentid[body_id]
depths[body_id] = 1 + depths[parent_id]
# create grouping key: depth, carry, args
key = (depths[body_id],)
for i, t in enumerate(out_types + in_types):
id_ = parent_id if i < len(out_types) else body_id
if t == 'b':
continue
elif t == 'j':
key += (tuple(m.jnt_type[np.nonzero(m.jnt_bodyid == id_)[0]]))
elif t == 'v':
key += (len(np.nonzero(m.dof_bodyid == id_)[0]),)
elif t == 'q':
key += (len(np.nonzero(_q_bodyid(m) == id_)[0]),)
key_parents[key] = parent_key
body_ids = key_body_ids.get(key, np.array([], dtype=np.int32))
key_body_ids[key] = np.append(body_ids, body_id)
# add ids per type
for t in set(in_types + out_types):
out = key_typ_ids.setdefault(key, {})
id_ = body_id if t == 'b' else np.nonzero(typ_body_id[t] == body_id)[0]
id_ = np.expand_dims(id_, axis=0)
out[t] = np.concatenate((out[t], id_)) if t in out else id_
# find parent keys of each key. a key may have multiple parents if the
# carry output keys of distinct parents are the same. e.g.:
# - depth 0 body 1 (slide joint)
# -- depth 1 body 1 (hinge joint)
# - depth 0 body 2 (ball joint)
# -- depth 1 body 2 (hinge joint)
# given a scan with 'j' in the in_types, we would group depth 0 bodies
# separately but we may group depth 1 bodies together
key_parents = {}
key_typ_ids = list(sorted(key_typ_ids.items(), reverse=reverse))
for key, body_ids in key_body_ids.items():
body_ids = body_ids[body_ids != 0] # ignore worldbody, has no parent
if body_ids.size == 0:
continue
# find any key which has a body id that is a parent of these body_ids
pids = m.body_parentid[body_ids]
parents = {k for k, v in key_body_ids.items() if np.isin(v, pids).any()}
key_parents[key] = list(sorted(parents))
# key => take indices
key_in_take, key_y_take = {}, {}
for key, body_ids in key_body_ids.items():
for i, typ in enumerate(in_types + out_types):
if typ == 'b':
ids = body_ids
elif typ == 'j':
ids = np.stack([np.nonzero(m.jnt_bodyid == b)[0] for b in body_ids])
elif typ == 'v':
ids = np.stack([np.nonzero(m.dof_bodyid == b)[0] for b in body_ids])
elif typ == 'q':
ids = np.stack([np.nonzero(_q_bodyid(m) == b)[0] for b in body_ids])
else:
raise ValueError(f'Unknown in_type: {typ}')
if i < len(in_types):
key_in_take.setdefault(key, []).append(ids)
else:
key_y_take.setdefault(key, []).append(np.hstack(ids))
# use this grouping to take the right data subsets and call vmap(f)
keys = sorted(key_body_ids, reverse=reverse)
key_y = {}
for key, typ_ids in key_typ_ids:
for key in keys:
carry = None
if reverse:
child_keys = [k for k, v in key_parents.items() if v == key]
child_keys = [k for k, v in key_parents.items() if key in v]
for child_key in child_keys:
y = key_y[child_key]
@@ -394,39 +434,33 @@ def body_tree(
y = jax.tree_map(index_sum, y)
carry = y if carry is None else jax.tree_map(jp.add, carry, y)
else:
parent_key = key_parents[key]
y = key_y.get(parent_key)
elif key in key_parents:
ys = [key_y[p] for p in key_parents[key]]
y = jax.tree_map(lambda *x: jp.concatenate(x), *ys)
body_ids = np.concatenate([key_body_ids[p] for p in key_parents[key]])
parent_ids = m.body_parentid[key_body_ids[key]]
take_fn = lambda x, i=_index(body_ids, parent_ids): _take(x, i)
carry = jax.tree_map(take_fn, y)
if y is not None:
body_ids = key_body_ids[parent_key]
parent_ids = m.body_parentid[key_body_ids[key]]
take_fn = lambda x, i=_index(body_ids, parent_ids): _take(x, i)
carry = jax.tree_map(take_fn, y)
f_args = [_take(arg, typ_ids[typ]) for arg, typ in zip(args, in_types)]
f_args = [_take(arg, ids) for arg, ids in zip(args, key_in_take[key])]
key_y[key] = _nvmap(f, carry, *f_args)
# slice None results from the final output
key_typ_ids = [(k, v) for k, v in key_typ_ids if key_y[k] is not None]
keys = [k for k in keys if key_y[k] is not None]
# concatenate back to a single tree and drop the grouping dimension
ys = [key_y[key] for key, _ in key_typ_ids]
f_ret_is_seq = isinstance(ys[0], (list, tuple))
ys = ys if f_ret_is_seq else [[y] for y in ys]
ys = [
[v if typ == 'b' else jp.concatenate(v) for v, typ in zip(y, out_types)]
for y in ys
]
ys = jax.tree_map(lambda *x: jp.concatenate(x), *ys)
# concatenate ys, drop grouping dimensions, put back in order
y = []
for i, typ in enumerate(out_types):
y_typ = [key_y[key] for key in keys]
if len(out_types) > 1:
y_typ = [y_[i] for y_ in y_typ]
if typ != 'b':
y_typ = jax.tree_map(jp.concatenate, y_typ)
y_typ = jax.tree_map(lambda *x: jp.concatenate(x), *y_typ)
y_take = np.argsort(np.concatenate([key_y_take[key][i] for key in keys]))
_check_output(y_typ, y_take, typ, i)
y.append(_take(y_typ, y_take))
# put concatenated results back into body order
reordered_ys = []
for i, (y, typ) in enumerate(zip(ys, out_types)):
ids = np.concatenate([np.hstack(v[typ]) for _, v in key_typ_ids])
take_ids = _index(ids, np.sort(ids))
_check_output(y, take_ids, typ, i)
reordered_ys.append(_take(y, take_ids))
y = reordered_ys if f_ret_is_seq else reordered_ys[0]
y = y[0] if len(out_types) == 1 else y
return y
mjx/mujoco/mjx/_src/smooth_test.py
+5 -5
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@@ -27,12 +27,12 @@ from mujoco.mjx._src.types import DisableBit
import numpy as np
def _assert_eq(a, b, name, step, fname, atol=1e-5, rtol=1e-5):
def _assert_eq(a, b, name, step, fname, atol=5e-4, rtol=5e-4):
err_msg = f'mismatch: {name} at step {step} in {fname}'
np.testing.assert_allclose(a, b, err_msg=err_msg, atol=atol, rtol=rtol)
def _assert_attr_eq(a, b, attr, step, fname, atol=1e-5, rtol=1e-5):
def _assert_attr_eq(a, b, attr, step, fname, atol=5e-4, rtol=5e-4):
err_msg = f'mismatch: {attr} at step {step} in {fname}'
a, b = getattr(a, attr), getattr(b, attr)
np.testing.assert_allclose(a, b, err_msg=err_msg, atol=atol, rtol=rtol)
@@ -101,7 +101,7 @@ class SmoothTest(parameterized.TestCase):
# factor_m
dx = factor_m_fn(mx, dx, dx.qM)
_assert_attr_eq(d, dx, 'qLD', i, fname, atol=1e-3)
_assert_attr_eq(d, dx, 'qLDiagInv', i, fname, atol=1e-3, rtol=1e-4)
_assert_attr_eq(d, dx, 'qLDiagInv', i, fname, atol=1e-3)
# com_vel
dx = com_vel_jit_fn(mx, dx)
@@ -110,14 +110,14 @@ class SmoothTest(parameterized.TestCase):
# rne
dx = rne_jit_fn(mx, dx)
_assert_attr_eq(d, dx, 'qfrc_bias', i, fname, atol=1e-4)
_assert_attr_eq(d, dx, 'qfrc_bias', i, fname)
# mul_m (auxilliary function, not part of smooth step)
vec = np.random.random(m.nv)
mjx_vec = mul_m_jit_fn(mx, dx, jp.array(vec))
mj_vec = np.zeros(m.nv)
mujoco.mj_mulM(m, d, mj_vec, vec)
_assert_eq(mj_vec, mjx_vec, 'mul_m', i, fname, atol=1e-4)
_assert_eq(mj_vec, mjx_vec, 'mul_m', i, fname)
# transmission
dx = transmission_jit_fn(mx, dx)
mjx/mujoco/mjx/_src/test_util.py
+1 -7
View File
@@ -24,16 +24,10 @@ import numpy as np
TEST_FILES: List[str] = [
'ant.xml',
'ball_pendulum.xml',
'cherry_pendulum.xml',
'convex.xml',
'equality.xml',
'humanoid.xml',
'mixed_joint_pendulum.xml',
'single_pendulum.xml',
'slide_pendulum.xml',
'triple_pendulum.xml',
'triple_pendulum_free.xml',
'pendula.xml',
]
_ACTUATOR_TYPES = ['motor', 'velocity', 'position', 'general', 'intvelocity']
mjx/mujoco/mjx/test_data/ball_pendulum.xml
-23
View File
@@ -1,23 +0,0 @@
<mujoco model="ball_pendulum">
<option timestep="0.02" solver="CG" iterations="6" ls_iterations="6"/>
<compiler autolimits="true"/>
<default>
<geom contype="0" conaffinity="0"/>
<joint damping="10"/>
</default>
<option solver="CG"/>
<worldbody>
<body>
<joint axis="1 0 0" type="ball" range="0 10"/>
<geom pos="0 0.5 0" size=".15" mass="1" type="sphere"/>
<body pos="0.3 0.4 0.5">
<joint axis="1 0 0" type="hinge" range="-20 20"/>
<geom pos="0 0.5 0" size=".15" mass="2" type="sphere"/>
<body pos="0 0.5 0">
<joint axis="1 0 0" type="hinge" range="-30 30"/>
<geom pos="0 0.5 0" size=".15" mass="3" type="sphere"/>
</body>
</body>
</body>
</worldbody>
</mujoco>
mjx/mujoco/mjx/test_data/cherry_pendulum.xml
-20
View File
@@ -1,20 +0,0 @@
<mujoco model="cherry_pendulum">
<option timestep="0.02" solver="CG" iterations="6" ls_iterations="6"/>
<default>
<geom contype="0" conaffinity="0"/>
</default>
<worldbody>
<body>
<joint axis="1 0 0" type="hinge" range="-45 45"/>
<geom pos="0 0.5 0" size=".15" mass="1" type="sphere"/>
<body pos="0 0.5 0">
<joint axis="1 0 0" type="hinge"/>
<geom pos="0 0.5 0" size=".15" mass="2" type="sphere"/>
</body>
<body pos="0 0.5 0">
<joint axis="1 0 0" type="hinge"/>
<geom pos="0 0.5 0" size=".15" mass="3" type="sphere"/>
</body>
</body>
</worldbody>
</mujoco>
mjx/mujoco/mjx/test_data/mixed_joint_pendulum.xml
-23
View File
@@ -1,23 +0,0 @@
<mujoco model="revolute">
<option timestep="0.02" solver="CG" iterations="6" ls_iterations="6"/>
<compiler autolimits="true"/>
<default>
<geom contype="0" conaffinity="0"/>
<joint damping="20"/>
</default>
<worldbody>
<body>
<joint axis="1 0 0" type="ball" range="0 10"/>
<geom pos="0 0.5 0" size=".15" mass="1" type="sphere"/>
<body pos="0.3 0.4 0.5">
<joint axis="1 0 0" type="hinge" range="-20 20"/>
<joint axis="0 1 0" type="hinge" range="-20 20"/>
<geom pos="0 0.5 0" size=".15" mass="2" type="sphere"/>
<body pos="0 0.5 0">
<joint axis="1 0 0" type="hinge" range="-30 30"/>
<geom pos="0 0.5 0" size=".15" mass="3" type="sphere"/>
</body>
</body>
</body>
</worldbody>
</mujoco>
mjx/mujoco/mjx/test_data/pendula.xml
+102
View File
@@ -0,0 +1,102 @@
<!-- For validating dynamics of joints:
* free, ball, slide, hinge joints
* stacked joints (e.g. hinge + slide, ball + slide, etc)
* n-link kinematic chains
* limits, armature, damping
-->
<mujoco model="pendula">
<compiler autolimits="true"/>
<option timestep="0.02">
<flag contact="disable" />
</option>
<default>
<geom type="box" pos=".1 .2 .3" size=".1 .2 .3"/>
<joint damping="0.25" stiffness="0.1"/>
</default>
<worldbody>
<!-- a single free body -->
<body pos="0 0 0">
<freejoint/>
<geom/>
</body>
<!-- a single ball joint with a limit -->
<body pos="0.5 0 0">
<joint type="ball" range="0 35"/>
<geom/>
</body>
<!-- a single slide joint with a limit -->
<body pos="1.0 0 0">
<joint type="slide" axis="0.1 0.2 0.3" range="-1 1"/>
<geom/>
</body>
<!-- a single hinge joint with a limit -->
<body pos="1.5 0 0">
<joint type="hinge" axis="0.1 0.2 0.3" range="-35 50"/>
<geom/>
</body>
<!-- stacked joint: hinge + slide -->
<body pos="2.0 0 0">
<joint type="hinge" axis="0.1 0.2 0.3"/>
<joint type="slide" axis="0.4 0.5 0.6" range="0 1"/>
<geom/>
</body>
<!-- stacked joint: slide + ball -->
<body pos="2.5 0 0">
<joint type="slide" axis="0.4 0.5 0.6" range="0 1"/>
<joint type="ball"/>
<geom/>
</body>
<!-- triple pendulum of hinges -->
<body pos="3.0 0 0">
<joint axis="0.1 0.2 0.3" type="hinge"/>
<geom/>
<body pos="0 0 -0.8">
<joint axis="0.4 0.5 0.6" type="hinge" armature="0.02" range="-20 20"/>
<geom/>
<body pos="0 -0.7 0">
<joint axis="0.7 0.8 0.9" type="hinge" damping="0.75" range="-30 30"/>
<geom/>
</body>
</body>
</body>
<!-- cherry pendulum: two bodies attached to same parent body -->
<body pos="3.5 0 0">
<joint type="ball" damping="0.5" />
<geom/>
<body pos="0 0 -0.8">
<joint axis="0.4 0.5 0.6" type="hinge" armature="0.02" range="-20 20"/>
<geom/>
</body>
<body pos="0 -0.7 0">
<joint axis="0.7 0.8 0.9" type="hinge" damping="0.75" range="-30 30"/>
<geom/>
</body>
</body>
<!-- falling pendulum -->
<body pos="4.0 0 0">
<freejoint/>
<geom/>
<body pos="0 0 -0.8">
<joint axis="0.4 0.5 0.6" type="slide" armature="0.02" range="-0.4 0.6"/>
<geom/>
<body pos="0 -0.7 0">
<joint axis="0.7 0.8 0.9" type="hinge" damping="0.75" range="-30 30"/>
<geom/>
</body>
</body>
</body>
</worldbody>
</mujoco>
mjx/mujoco/mjx/test_data/single_pendulum.xml
-13
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@@ -1,13 +0,0 @@
<mujoco model="pendulum">
<option timestep="0.02" solver="CG" iterations="6" ls_iterations="6"/>
<worldbody>
<body>
<joint name="slider" axis="1 0 0" type="hinge"/>
<geom pos="0 0.5 0" size=".15" mass="1" type="sphere"/>
</body>
</worldbody>
<!-- Tests that a single actuator doesn't get mangled in a physics step. -->
<actuator>
<motor name="slide" joint="slider" gear="10" ctrllimited="true" ctrlrange="-1 1"/>
</actuator>
</mujoco>
mjx/mujoco/mjx/test_data/slide_pendulum.xml
-20
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@@ -1,20 +0,0 @@
<mujoco model="slide_pendulum">
<option timestep="0.02" solver="CG" iterations="6" ls_iterations="6"/>
<default>
<geom contype="0" conaffinity="0"/>
</default>
<worldbody>
<body>
<joint axis="1 0 0" type="hinge"/>
<geom pos="0 0.5 0" size=".15" mass="1" type="sphere"/>
<body pos="0 0.5 0">
<joint axis="1 0 0" type="hinge"/>
<geom pos="0 0.5 0" size=".15" mass="2" type="sphere"/>
<body pos="0 0.5 0">
<joint axis="1 0 0" type="slide"/>
<geom pos="0 0.5 0" size=".15" mass="3" type="sphere"/>
</body>
</body>
</body>
</worldbody>
</mujoco>
mjx/mujoco/mjx/test_data/triple_pendulum.xml
-21
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@@ -1,21 +0,0 @@
<mujoco model="triple_pendulum">
<option timestep="0.02" solver="CG" iterations="6" ls_iterations="6"/>
<compiler autolimits="true"/>
<default>
<geom contype="0" conaffinity="0"/>
</default>
<worldbody>
<body>
<joint axis="1 0 0" type="hinge" armature="0.01" range="-10 10"/>
<geom pos="0 0.5 0" size=".15" mass="1" type="sphere"/>
<body pos="0 0.5 0">
<joint axis="1 0 0" type="hinge" armature="0.02" range="-20 20"/>
<geom pos="0 0.5 0" size=".15" mass="2" type="sphere"/>
<body pos="0 0.5 0">
<joint axis="1 0 0" type="hinge" armature="0.03" range="-30 30"/>
<geom pos="0 0.5 0" size=".15" mass="3" type="sphere"/>
</body>
</body>
</body>
</worldbody>
</mujoco>
mjx/mujoco/mjx/test_data/triple_pendulum_free.xml
-24
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@@ -1,24 +0,0 @@
<mujoco model="triple_pendulum_free">
<option timestep="0.02" solver="CG" iterations="6" ls_iterations="6"/>
<default>
<geom contype="0" conaffinity="0"/>
</default>
<worldbody>
<body>
<joint type="free"/>
<geom pos="0 0.5 0" size=".15" mass="1" type="sphere"/>
</body>
<body>
<joint axis="1 0 0" type="hinge"/>
<geom pos="0 0.5 0" size=".15" mass="1" type="sphere"/>
<body pos="0 0.5 0">
<joint axis="1 0 0" type="hinge"/>
<geom pos="0 0.5 0" size=".15" mass="2" type="sphere"/>
<body pos="0 0.5 0">
<joint axis="1 0 0" type="hinge"/>
<geom pos="0 0.5 0" size=".15" mass="3" type="sphere"/>
</body>
</body>
</body>
</worldbody>
</mujoco>