Baruch Tabanpour
da9037e2b0
PiperOrigin-RevId: 794011199 Change-Id: I709a8bd9d07bec980aa60abd0346d946b037cbbd
198 lines
6.2 KiB
Python
198 lines
6.2 KiB
Python
# Copyright 2023 DeepMind Technologies Limited
|
|
#
|
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
# you may not use this file except in compliance with the License.
|
|
# You may obtain a copy of the License at
|
|
#
|
|
# http://www.apache.org/licenses/LICENSE-2.0
|
|
#
|
|
# Unless required by applicable law or agreed to in writing, software
|
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
# See the License for the specific language governing permissions and
|
|
# limitations under the License.
|
|
# ==============================================================================
|
|
"""Tests for sensor functions."""
|
|
|
|
from absl.testing import absltest
|
|
from absl.testing import parameterized
|
|
import itertools
|
|
import jax
|
|
from jax import numpy as jp
|
|
import mujoco
|
|
from mujoco import mjx
|
|
from mujoco.mjx._src import test_util
|
|
from mujoco.mjx._src.types import ConeType
|
|
import numpy as np
|
|
|
|
# tolerance for difference between MuJoCo and MJX smooth calculations - mostly
|
|
# due to float precision
|
|
_TOLERANCE = 5e-5
|
|
|
|
|
|
def _assert_eq(a, b, name):
|
|
tol = _TOLERANCE * 10 # avoid test noise
|
|
err_msg = f'mismatch: {name}'
|
|
np.testing.assert_allclose(a, b, err_msg=err_msg, atol=tol, rtol=tol)
|
|
|
|
|
|
def _assert_attr_eq(a, b, attr):
|
|
_assert_eq(getattr(a, attr), getattr(b, attr), attr)
|
|
|
|
|
|
class SensorTest(parameterized.TestCase):
|
|
|
|
@parameterized.product(
|
|
filename=['sensor/model.xml', 'sensor/sensor.xml'],
|
|
cone_type=list(ConeType),
|
|
)
|
|
def test_sensor(self, filename, cone_type):
|
|
"""Tests MJX sensor functions match MuJoCo sensor functions."""
|
|
m = test_util.load_test_file(filename)
|
|
m.opt.cone = cone_type
|
|
d = mujoco.MjData(m)
|
|
# give the system a little kick to ensure we have non-identity rotations
|
|
d.qvel = 0.1 * np.random.random(m.nv)
|
|
# apply external forces
|
|
d.xfrc_applied = 0.1 * np.random.random(d.xfrc_applied.shape)
|
|
# apply control for activation dynamics
|
|
d.ctrl = np.clip(
|
|
0.1 * np.random.random(m.nu),
|
|
m.actuator_ctrlrange[:, 0],
|
|
m.actuator_ctrlrange[:, 1],
|
|
)
|
|
mujoco.mj_step(m, d, 100)
|
|
mujoco.mj_forward(m, d)
|
|
|
|
mx = mjx.put_model(m)
|
|
dx = mjx.put_data(m, d).tree_replace({
|
|
'sensordata': jp.zeros_like(d.sensordata),
|
|
'_impl.subtree_linvel': jp.zeros_like(d.subtree_linvel),
|
|
'_impl.subtree_angmom': jp.zeros_like(d.subtree_angmom),
|
|
'_impl.cacc': jp.zeros_like(d.cacc),
|
|
'_impl.cfrc_int': jp.zeros_like(d.cfrc_int),
|
|
'_impl.cfrc_ext': jp.zeros_like(d.cfrc_ext),
|
|
})
|
|
dx = jax.jit(mjx.sensor_pos)(mx, dx)
|
|
dx = jax.jit(mjx.sensor_vel)(mx, dx)
|
|
dx = jax.jit(mjx.sensor_acc)(mx, dx)
|
|
|
|
_assert_eq(d.sensordata, dx.sensordata, 'sensordata')
|
|
|
|
def test_disable_sensor(self):
|
|
"""Tests disabling sensor."""
|
|
m = test_util.load_test_file('sensor/sensor.xml')
|
|
# disable sensors
|
|
m.opt.disableflags = m.opt.disableflags | mjx.DisableBit.SENSOR
|
|
d = mujoco.MjData(m)
|
|
# give the system a little kick to ensure we have non-identity rotations
|
|
d.qvel = np.random.random(m.nv)
|
|
mujoco.mj_step(m, d, 10) # let dynamics get state significantly non-zero
|
|
mx = mjx.put_model(m)
|
|
dx = mjx.put_data(m, d)
|
|
# random sensor values
|
|
random_sensor = jp.array(np.random.random(dx.sensordata.shape))
|
|
dx = dx.replace(sensordata=random_sensor)
|
|
# call sensor functions
|
|
dx = jax.jit(mjx.forward)(mx, dx)
|
|
# sensor values
|
|
_assert_eq(random_sensor, dx.sensordata, 'sensordata')
|
|
|
|
@parameterized.parameters(
|
|
'type="sphere" size=".1"',
|
|
'type="sphere" size=".05" margin=".045"',
|
|
'type="capsule" size=".1 .1" euler="0 89 89"',
|
|
'type="box" size=".1 .1 .1" euler=".05 .075 .1"',
|
|
)
|
|
def test_sensor_contact(self, geom):
|
|
"""Tests contact sensor."""
|
|
|
|
field = ['found', 'force', 'torque', 'dist', 'pos', 'normal', 'tangent']
|
|
datas = itertools.chain.from_iterable(
|
|
itertools.combinations(field, i) for i in range(len(field) + 1)
|
|
)
|
|
datas = list(datas)
|
|
|
|
contact_sensors = ''
|
|
for num in [1, 2, 4, 5]:
|
|
for data in datas:
|
|
data = ' '.join(data)
|
|
for reduce in ['mindist', 'maxforce']:
|
|
for match in [
|
|
'',
|
|
'geom1="plane"',
|
|
'geom1="geom1"',
|
|
'geom1="sphere2"',
|
|
'geom2="plane"',
|
|
'geom2="geom1"',
|
|
'geom2="sphere2"',
|
|
'geom1="plane" geom2="geom1"',
|
|
'geom1="geom1" geom2="plane"',
|
|
'geom1="plane" geom2="sphere2"',
|
|
'geom1="geom1" geom2="sphere2"',
|
|
]:
|
|
contact_sensors += (
|
|
f'<contact {match} num="{num}" data="{data}"'
|
|
f' reduce="{reduce}"/>\n'
|
|
)
|
|
|
|
_MJCF = f"""
|
|
<mujoco>
|
|
<compiler angle="degree"/>
|
|
<worldbody>
|
|
<geom name="plane" type="plane" size="10 10 .001"/>
|
|
<body>
|
|
<geom name="geom1" {geom}/>
|
|
<joint type="slide" axis="0 0 1"/>
|
|
</body>
|
|
<body>
|
|
<geom name="sphere2" type="sphere" size=".1"/>
|
|
<joint type="slide" axis="0 0 1"/>
|
|
</body>
|
|
</worldbody>
|
|
<sensor>
|
|
{contact_sensors}
|
|
</sensor>
|
|
<keyframe>
|
|
<key qpos=".09 1"/>
|
|
</keyframe>
|
|
</mujoco>
|
|
"""
|
|
m = mujoco.MjModel.from_xml_string(_MJCF)
|
|
d = mujoco.MjData(m)
|
|
mujoco.mj_resetDataKeyframe(m, d, 0)
|
|
|
|
mx = mjx.put_model(m)
|
|
dx = mjx.put_data(m, d)
|
|
|
|
mujoco.mj_forward(m, d)
|
|
dx = mjx.forward(mx, dx)
|
|
|
|
_assert_eq(dx.sensordata, d.sensordata, 'sensordata')
|
|
|
|
def test_unsupported_sensor(self):
|
|
"""Tests unsupported sensor raises error."""
|
|
m = mujoco.MjModel.from_xml_string("""
|
|
<mujoco>
|
|
<worldbody>
|
|
<body>
|
|
<joint type="hinge"/>
|
|
<geom name="geom0" size="0.1"/>
|
|
<body>
|
|
<joint type="hinge"/>
|
|
<geom name="geom1" size="0.25"/>
|
|
</body>
|
|
</body>
|
|
</worldbody>
|
|
<sensor>
|
|
<distance name="distance" geom1="geom0" geom2="geom1"/>
|
|
</sensor>
|
|
</mujoco>
|
|
""")
|
|
with self.assertRaises(NotImplementedError):
|
|
mjx.put_model(m)
|
|
|
|
|
|
if __name__ == '__main__':
|
|
absltest.main()
|