Baruch Tabanpour
e9709900b4
PiperOrigin-RevId: 627791303 Change-Id: I87c9254967eb492d0c38153ff41d7458ffb69136
79 lines
2.5 KiB
Python
79 lines
2.5 KiB
Python
# Copyright 2023 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ==============================================================================
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"""Tests for smooth dynamics functions."""
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from absl.testing import absltest
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from absl.testing import parameterized
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import jax
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import mujoco
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from mujoco import mjx
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from mujoco.mjx._src import test_util
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import numpy as np
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def _assert_eq(a, b, name, step, fname, atol=1e-5, rtol=1e-5):
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err_msg = f'mismatch: {name} at step {step} in {fname}'
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np.testing.assert_allclose(a, b, err_msg=err_msg, atol=atol, rtol=rtol)
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def _assert_attr_eq(a, b, attr, step, fname, atol=1e-5, rtol=1e-5):
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err_msg = f'mismatch: {attr} at step {step} in {fname}'
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a, b = getattr(a, attr), getattr(b, attr)
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np.testing.assert_allclose(a, b, err_msg=err_msg, atol=atol, rtol=rtol)
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class TransmissionIntegrationTest(parameterized.TestCase):
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@parameterized.parameters(list(range(30)))
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def test_transmission(self, seed):
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"""Tests mjx.transmission matches mj_transmission."""
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mjcf = test_util.create_mjcf(
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seed,
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max_trees=1,
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max_tree_depth=5,
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body_pos=(0.0, 0.0, -0.5),
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geom_pos=(0.0, 0.5, 0.0),
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disable_actuation_pct=10,
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add_actuators=True,
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max_contact_excludes=2,
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enable_contact=False,
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)
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m = mujoco.MjModel.from_xml_string(mjcf)
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transmission_jit_fn = jax.jit(mjx.transmission)
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# init
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d = mujoco.MjData(m)
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d.ctrl = np.random.normal(scale=10, size=m.nu)
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d.act = np.random.normal(scale=10, size=m.na)
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d.qpos = np.random.normal(m.nq)
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d.qvel = np.random.random(m.nv)
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mujoco.mj_forward(m, d)
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# put on device
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mx = mjx.put_model(m)
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dx = mjx.put_data(m, d)
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mujoco.mj_transmission(m, d)
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dx = transmission_jit_fn(mx, dx)
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for field in ['actuator_length', 'actuator_moment']:
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_assert_attr_eq(
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d, dx, field, seed, f'transmission{seed}', atol=1e-4
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)
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if __name__ == '__main__':
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absltest.main()
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