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

Remove duplicate test_tendon_force_clamp from inverse_test.py.

Browse Source 
PiperOrigin-RevId: 747835971
Change-Id: I96ca7a2e3f71dbc05af238c269a81b41b51fa48b
This commit is contained in:
Taylor Howell
2025-04-15 05:39:40 -07:00
committed by Copybara-Service
parent 71a7004057
commit d168135189
1 changed files with 0 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
mjx/mujoco/mjx/_src/inverse_test.py
-15
View File
@@ -111,21 +111,6 @@ class InverseTest(parameterized.TestCase):
self.assertLess(fwdinv1, 1.0e-3) self.assertLess(fwdinv1, 1.0e-3)
_assert_eq(dxinv.qacc, dx.qacc, 'qacc') _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__': if __name__ == '__main__':
absltest.main() absltest.main()