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sysid: named ic construction, bug fixes, docstrings, README, more tests

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Co-authored-by: Kevin Zakka <kevinarmandzakka@gmail.com>
This commit is contained in:
Levi Burner
2026-02-10 15:15:17 -05:00
parent 210cf86486
commit e89dae359e
15 changed files with 768 additions and 1630 deletions
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python/mujoco/sysid/tests/test_trajectory.py
+45
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@@ -132,6 +132,51 @@ def test_create_initial_state_wrong_qpos(box_model):
create_initial_state(box_model, np.zeros(999))
def test_create_initial_state_with_names():
"""Named mapping places qpos/qvel into correct slots for a subset of joints."""
xml = """
<mujoco>
<worldbody>
<body name="box" pos="0 0 1">
<freejoint/>
<geom type="box" size=".1 .1 .1"/>
</body>
<body>
<joint name="h1" type="hinge"/>
<geom size="0.1" mass="1"/>
<body>
<joint name="h2" type="hinge"/>
<geom size="0.1" mass="1"/>
</body>
</body>
</worldbody>
</mujoco>
"""
model = mujoco.MjModel.from_xml_string(xml)
data = mujoco.MjData(model)
# Map only the two hinge joints by name, leaving the free body at defaults.
qpos_subset = np.array([1.1, 2.2])
qvel_subset = np.array([3.3, 4.4])
state = create_initial_state(
model, qpos_subset, qvel_subset,
qpos_names=["h1_qpos", "h2_qpos"],
qvel_names=["h1_qvel", "h2_qvel"],
)
# Unpack the state to verify values ended up in the right slots.
mujoco.mj_setState(
model, data, state, mujoco.mjtState.mjSTATE_FULLPHYSICS.value
)
# Free body qpos (indices 0-6) should be at model defaults.
# Hinge joints at qposadr 7 and 8.
np.testing.assert_allclose(data.qpos[7], 1.1)
np.testing.assert_allclose(data.qpos[8], 2.2)
# Hinge joints at dofadr 6 and 7.
np.testing.assert_allclose(data.qvel[6], 3.3)
np.testing.assert_allclose(data.qvel[7], 4.4)
def test_split(sample_trajectory):
"""A long trajectory can be split into smaller chunks for batched optimization."""
traj, *_ = sample_trajectory