From d1681351895aa7157517f288d42686cf7af688e6 Mon Sep 17 00:00:00 2001 From: Taylor Howell Date: Tue, 15 Apr 2025 05:39:40 -0700 Subject: [PATCH] Remove duplicate test_tendon_force_clamp from inverse_test.py. PiperOrigin-RevId: 747835971 Change-Id: I96ca7a2e3f71dbc05af238c269a81b41b51fa48b --- mjx/mujoco/mjx/_src/inverse_test.py | 15 --------------- 1 file changed, 15 deletions(-) diff --git a/mjx/mujoco/mjx/_src/inverse_test.py b/mjx/mujoco/mjx/_src/inverse_test.py index 19a5deef..556f2a7e 100644 --- a/mjx/mujoco/mjx/_src/inverse_test.py +++ b/mjx/mujoco/mjx/_src/inverse_test.py @@ -111,21 +111,6 @@ class InverseTest(parameterized.TestCase): self.assertLess(fwdinv1, 1.0e-3) _assert_eq(dxinv.qacc, dx.qacc, 'qacc') - def test_tendon_force_clamp(self): - m = test_util.load_test_file('actuator/tendon_force_clamp.xml') - d = mujoco.MjData(m) - mx = mjx.put_model(m) - dx = mjx.put_data(m, d) - - dx = dx.replace(ctrl=jp.array([1.0, 1.0, 1.0, -1.0, 1.0, -20.0, 5.0, -5.0])) - dx = mjx.forward(mx, dx) - - _assert_eq( - dx.actuator_force, - jp.array([1.0, 1.0, 1.0, -1.0, 1.0, -10.0, 5.0, -5.0]), - 'actuator_force', - ) - if __name__ == '__main__': absltest.main()