Baruch Tabanpour
65deedbc75
PiperOrigin-RevId: 770400560 Change-Id: I7bec79aeae07322a30b15cc04d4dd05077741a8b
982 lines
35 KiB
Python
982 lines
35 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 io functions."""
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import os
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from unittest import mock
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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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from jax import numpy as jp
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import mujoco
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from mujoco import mjx
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from mujoco.mjx._src import io as mjx_io
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from mujoco.mjx._src import test_util
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# pylint: disable=g-importing-member
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from mujoco.mjx._src.types import ConeType
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from mujoco.mjx._src.types import Impl
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# pylint: enable=g-importing-member
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import numpy as np
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_MULTIPLE_CONVEX_OBJECTS = """
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<mujoco>
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<option timestep="0.001" jacobian="dense"/>
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<default>
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<geom solref=".006 1"/>
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</default>
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<asset>
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<mesh name="box" vertex="-1 -1 -1 1 -1 -1 1 1 -1 1 1 1 1 -1 1 -1 1 -1 -1 1 1 -1 -1 1" scale="1 1 .1"/>
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<mesh name="boxoid" vertex="-1 -1 -1 1 -1 -1 1 1 -1 1 1 1 1 -1 1 -1 1 -1 -1 1 .5 -1 -1 2" scale=".3 .2 .1"/>
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<mesh name="pentaprism" vertex="1 0 0 0.309 0.951 0 -0.809 0.588 0 -0.809 -0.588 0 0.309 -0.951 0 1 0 1 0.309 0.951 1 -0.809 0.588 1 -0.809 -0.588 1 0.309 -0.951 1" scale=".2 .2 .1"/>
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</asset>
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<worldbody>
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<geom type="plane" pos="0 0 -.5" size="3 3 .01"/>
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<geom type="mesh" mesh="box" pos="0 0 -.15" euler="3 7 30"/>
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<body pos="-.3 -.3 .3">
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<freejoint/>
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<geom type="mesh" mesh="boxoid" rgba=".8 0 0 1" euler="3 5 -130"/>
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</body>
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<body pos=".3 .3 0.3">
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<freejoint/>
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<geom type="box" euler="3 5 -80" size=".3 .2 .1" rgba="0 .8 0 1"/>
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</body>
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<body pos=".3 .3 .6">
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<freejoint/>
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<geom type="mesh" mesh="pentaprism" rgba="0 0 .8 1"/>
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</body>
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<body pos=".6 -.3 .3">
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<joint name="joint" axis="1 0 0" type="hinge" range="-45 45"/>
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<geom type="capsule" size=".2 .05" rgba=".6 0 .6 1"/>
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</body>
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</worldbody>
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<actuator>
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<motor joint="joint"/>
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</actuator>
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</mujoco>
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"""
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_MULTIPLE_CONSTRAINTS = """
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<mujoco>
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<worldbody>
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<geom type="plane" size="3 3 .01" condim="6"/>
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<body name="cap1" pos="-.3 -.3 .2">
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<freejoint/>
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<geom type="capsule" size=".2 .05"/>
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<body name="cap2" pos=".6 -.3 .3">
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<joint name="joint1" axis="0 1 0" type="hinge" range="-45 45"/>
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<joint name="joint2" axis="1 0 0" type="hinge" range="-0.001 0.001"/>
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<geom type="capsule" size=".2 .05"/>
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<site pos="-0.214 -0.078 0" quat="0.664 0.664 -0.242 -0.242"/>
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</body>
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</body>
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</worldbody>
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<equality>
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<connect body1="cap2" anchor="0 0 1"/>
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</equality>
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<tendon>
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<fixed name="tendon_1" limited="false" stiffness=".1" damping=".2">
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<joint joint="joint1" coef=".1"/>
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<joint joint="joint2" coef="-.2"/>
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</fixed>
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</tendon>
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</mujoco>
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"""
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_SIMPLE_BODY = """
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<mujoco>
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<worldbody>
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<!-- nC < nM because this body has an inertia-aligned free joint -->
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<body name="simplebody">
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<freejoint/>
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<geom type="sphere" size="0.01"/>
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</body>
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</worldbody>
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</mujoco>
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"""
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class ModelIOTest(parameterized.TestCase):
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"""IO tests for mjx.Model."""
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@parameterized.product(
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xml=(_MULTIPLE_CONVEX_OBJECTS, _MULTIPLE_CONSTRAINTS),
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impl=('jax', 'c'),
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)
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def test_put_model(self, xml, impl):
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m = mujoco.MjModel.from_xml_string(xml)
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mx = mjx.put_model(m, impl=impl)
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def assert_not_weak_type(x):
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if isinstance(x, jax.Array):
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assert not x.weak_type
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jax.tree_util.tree_map(assert_not_weak_type, mx)
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self.assertEqual(mx.nq, m.nq)
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self.assertEqual(mx.nv, m.nv)
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self.assertEqual(mx.nu, m.nu)
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self.assertEqual(mx.na, m.na)
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self.assertEqual(mx.nbody, m.nbody)
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self.assertEqual(mx.njnt, m.njnt)
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self.assertEqual(mx.ngeom, m.ngeom)
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self.assertEqual(mx.nmesh, m.nmesh)
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self.assertEqual(mx.npair, m.npair)
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self.assertEqual(mx.nexclude, m.nexclude)
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self.assertEqual(mx.neq, m.neq)
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self.assertEqual(mx.nnumeric, m.nnumeric)
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self.assertEqual(mx.nM, m.nM)
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self.assertAlmostEqual(mx.opt.timestep, m.opt.timestep)
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if impl == 'jax':
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# fields restricted to MuJoCo should not be populated
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self.assertFalse(hasattr(mx, 'bvh_aabb'))
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elif impl == 'c':
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# Options specific to C are populated.
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self.assertEqual(mx.opt.apirate, m.opt.apirate)
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# Fields private to C backend impl are populated.
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self.assertTrue(hasattr(mx._impl, 'bvh_aabb'))
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np.testing.assert_allclose(mx.body_parentid, m.body_parentid)
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np.testing.assert_allclose(mx.geom_type, m.geom_type)
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np.testing.assert_allclose(mx.geom_bodyid, m.geom_bodyid)
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np.testing.assert_almost_equal(mx.geom_solref, m.geom_solref)
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np.testing.assert_almost_equal(mx.geom_pos, m.geom_pos)
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np.testing.assert_allclose(mx.jnt_type, m.jnt_type)
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np.testing.assert_allclose(mx.jnt_dofadr, m.jnt_dofadr)
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np.testing.assert_allclose(mx.jnt_bodyid, m.jnt_bodyid)
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np.testing.assert_allclose(mx.jnt_limited, m.jnt_limited)
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np.testing.assert_almost_equal(mx.jnt_axis, m.jnt_axis)
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np.testing.assert_allclose(mx.actuator_trntype, m.actuator_trntype)
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np.testing.assert_allclose(mx.actuator_dyntype, m.actuator_dyntype)
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np.testing.assert_allclose(mx.actuator_gaintype, m.actuator_gaintype)
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np.testing.assert_allclose(mx.actuator_biastype, m.actuator_biastype)
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np.testing.assert_allclose(mx.actuator_trnid, m.actuator_trnid)
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np.testing.assert_equal(mx.wrap_type, m.wrap_type)
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np.testing.assert_equal(mx.wrap_objid, m.wrap_objid)
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np.testing.assert_equal(mx.wrap_prm, m.wrap_prm)
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def test_fluid_params(self):
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"""Test that has_fluid_params is set when fluid params are present."""
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m = mjx.put_model(
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mujoco.MjModel.from_xml_string(
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'<mujoco><option viscosity="3.0"/><worldbody/></mujoco>'
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),
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impl='jax',
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)
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self.assertTrue(m.opt.has_fluid_params)
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def test_implicit_not_implemented(self):
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"""Test that MJX guards against models with unimplemented features."""
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with self.assertRaises(NotImplementedError):
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mjx.put_model(
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mujoco.MjModel.from_xml_string(
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'<mujoco><option integrator="implicit"/><worldbody/></mujoco>'
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)
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)
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def test_pgs_not_implemented(self):
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with self.assertRaises(NotImplementedError):
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mjx.put_model(
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mujoco.MjModel.from_xml_string(
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'<mujoco><option solver="PGS"/><worldbody/></mujoco>'
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)
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)
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def test_margin_gap_mesh_not_implemented(self):
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with self.assertRaises(NotImplementedError):
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mjx.put_model(
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mujoco.MjModel.from_xml_string("""
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<mujoco>
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<asset>
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<mesh name="box" vertex="-1 -1 -1 1 -1 -1 1 1 -1 1 1 1 1 -1 1 -1 1 -1 -1 1 1 -1 -1 1" scale="1 1 1"/>
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</asset>
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<worldbody>
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<body>
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<freejoint/>
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<geom type="mesh" mesh="box" margin="0.3"/>
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</body>
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<body>
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<freejoint/>
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<geom size="0.05"/>
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</body>
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</worldbody>
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</mujoco>"""),
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impl='jax',
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)
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def test_implicitfast_fluid_not_implemented(self):
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with self.assertRaises(NotImplementedError):
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mjx.put_model(
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mujoco.MjModel.from_xml_string("""
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<mujoco>
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<option viscosity="3.0" integrator="implicitfast"/>
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<worldbody/>
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</mujoco>"""),
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impl='jax',
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)
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def test_wrap_inside(self):
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m = test_util.load_test_file('tendon/wrap_sidesite.xml')
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mx0 = mjx.put_model(m, impl='jax')
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np.testing.assert_equal(
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mx0._impl.is_wrap_inside,
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np.array([1, 0, 1, 0, 1, 1, 0]),
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)
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m.site_pos[2] = m.site_pos[1]
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mx1 = mjx.put_model(m, impl='jax')
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np.testing.assert_equal(
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mx1._impl.is_wrap_inside,
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np.array([0, 0, 1, 0, 1, 0, 0]),
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)
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class DataIOTest(parameterized.TestCase):
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"""IO tests for mjx.Data."""
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@parameterized.parameters('jax', 'c')
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def test_make_data(self, impl: str):
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"""Test that make_data returns the correct shapes."""
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m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONVEX_OBJECTS)
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d = mjx.make_data(m, impl=impl)
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nq = 22
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nbody = 5
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ncon = 46
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nm = 64
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nv = 19
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nefc = 185
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self.assertEqual(d._impl.nefc, nefc)
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self.assertEqual(d.qpos.shape, (nq,))
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self.assertEqual(d.qvel.shape, (nv,))
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self.assertEqual(d.act.shape, (0,))
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self.assertEqual(d.qacc_warmstart.shape, (nv,))
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self.assertEqual(d.ctrl.shape, (1,))
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self.assertEqual(d.qfrc_applied.shape, (nv,))
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self.assertEqual(d.xfrc_applied.shape, (nbody, 6))
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self.assertEqual(d.eq_active.shape, (0,))
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self.assertEqual(d.qacc.shape, (nv,))
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self.assertEqual(d.act_dot.shape, (0,))
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self.assertEqual(d.xpos.shape, (nbody, 3))
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self.assertEqual(d.xquat.shape, (nbody, 4))
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self.assertEqual(d.xmat.shape, (nbody, 3, 3))
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self.assertEqual(d.xipos.shape, (nbody, 3))
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self.assertEqual(d.ximat.shape, (nbody, 3, 3))
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self.assertEqual(d.xanchor.shape, (4, 3))
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self.assertEqual(d.xaxis.shape, (4, 3))
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self.assertEqual(d.geom_xpos.shape, (6, 3))
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self.assertEqual(d.geom_xmat.shape, (6, 3, 3))
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self.assertEqual(d.subtree_com.shape, (nbody, 3))
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self.assertEqual(d._impl.cdof.shape, (nv, 6))
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self.assertEqual(d._impl.cinert.shape, (nbody, 10))
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self.assertEqual(d._impl.crb.shape, (nbody, 10))
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self.assertEqual(d._impl.actuator_length.shape, (1,))
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self.assertEqual(d._impl.actuator_moment.shape, (1, nv))
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self.assertEqual(d._impl.contact.dist.shape, (ncon,))
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self.assertEqual(d._impl.contact.pos.shape, (ncon, 3))
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self.assertEqual(d._impl.contact.frame.shape, (ncon, 3, 3))
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self.assertEqual(d._impl.contact.solref.shape, (ncon, 2))
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self.assertEqual(d._impl.contact.solimp.shape, (ncon, 5))
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self.assertEqual(d._impl.contact.geom1.shape, (ncon,))
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self.assertEqual(d._impl.contact.geom2.shape, (ncon,))
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self.assertEqual(d._impl.efc_J.shape, (nefc, nv))
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self.assertEqual(d._impl.efc_frictionloss.shape, (nefc,))
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self.assertEqual(d._impl.efc_D.shape, (nefc,))
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self.assertEqual(d._impl.actuator_velocity.shape, (1,))
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self.assertEqual(d.cvel.shape, (nbody, 6))
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self.assertEqual(d._impl.cdof_dot.shape, (nv, 6))
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self.assertEqual(d.qfrc_bias.shape, (nv,))
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self.assertEqual(d.qfrc_passive.shape, (nv,))
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self.assertEqual(d._impl.efc_aref.shape, (nefc,))
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self.assertEqual(d.qfrc_actuator.shape, (nv,))
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self.assertEqual(d.qfrc_smooth.shape, (nv,))
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self.assertEqual(d.qacc_smooth.shape, (nv,))
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self.assertEqual(d.qfrc_constraint.shape, (nv,))
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self.assertEqual(d.qfrc_inverse.shape, (nv,))
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self.assertEqual(d._impl.efc_force.shape, (nefc,))
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if impl == 'jax':
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self.assertEqual(d._impl.qM.shape, (nv, nv))
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self.assertEqual(d._impl.qLD.shape, (nv, nv))
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self.assertEqual(d._impl.qLDiagInv.shape, (0,))
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elif impl == 'c':
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self.assertEqual(d._impl.qM.shape, (nm,))
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self.assertEqual(d._impl.qLD.shape, (nm,))
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self.assertEqual(d._impl.qLDiagInv.shape, (nv,))
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# test sparse
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m.opt.jacobian = mujoco.mjtJacobian.mjJAC_SPARSE
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d = mjx.make_data(m, impl=impl)
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self.assertEqual(d._impl.qM.shape, (nm,))
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self.assertEqual(d._impl.qLD.shape, (nm,))
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self.assertEqual(d._impl.qLDiagInv.shape, (nv,))
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if impl == 'c':
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# check C specific fields
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self.assertEqual(d._impl.light_xpos.shape, (m.nlight, 3))
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self.assertEqual(d._impl.bvh_active.shape, (m.nbvh,))
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@parameterized.parameters('jax', 'c')
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def test_put_data(self, impl: str):
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"""Test that put_data puts the correct data for dense and sparse."""
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m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONSTRAINTS)
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d = mujoco.MjData(m)
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mujoco.mj_step(m, d, 2)
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dx = mjx.put_data(m, d, impl=impl)
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# check a few fields
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np.testing.assert_allclose(dx.qpos, d.qpos)
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np.testing.assert_allclose(dx.xpos, d.xpos)
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np.testing.assert_allclose(dx.cvel, d.cvel)
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np.testing.assert_allclose(dx._impl.cdof_dot, d.cdof_dot)
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# check that there are no weak types
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self.assertFalse(
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any(
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jax.tree_util.tree_flatten(
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jax.tree_util.tree_map(lambda x: x.weak_type, dx)
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)[0]
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)
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)
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if impl == 'jax':
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# check that qM is transformed properly
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qm = np.zeros((m.nv, m.nv), dtype=np.float64)
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mujoco.mj_fullM(m, qm, d.qM)
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np.testing.assert_allclose(qm, mjx.full_m(mjx.put_model(m), dx))
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elif impl == 'c':
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np.testing.assert_allclose(dx._impl.qM, d.qM)
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np.testing.assert_allclose(dx._impl.qLD, d.qLD)
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np.testing.assert_allclose(dx._impl.qLDiagInv, d.qLDiagInv)
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# 4 contacts, 2 for each capsule against the plane
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self.assertEqual(dx._impl.contact.dist.shape, (4,))
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self.assertEqual(d.ncon, 1) # however only 1 contact in this step
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np.testing.assert_allclose(dx._impl.contact.dist[0], d.contact.dist[0])
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self.assertTrue((dx._impl.contact.dist[1:] > 0).all())
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self.assertEqual(dx._impl.contact.frame.shape, (4, 3, 3))
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np.testing.assert_allclose(
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dx._impl.contact.frame[0].reshape(9), d.contact.frame[0]
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)
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np.testing.assert_allclose(dx._impl.contact.frame[1:], 0)
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# xmat, ximat, geom_xmat are all shape transformed
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self.assertEqual(dx.xmat.shape, (3, 3, 3))
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self.assertEqual(dx.ximat.shape, (3, 3, 3))
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self.assertEqual(dx.geom_xmat.shape, (3, 3, 3))
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self.assertEqual(dx.site_xmat.shape, (1, 3, 3))
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np.testing.assert_allclose(dx.xmat.reshape((3, 9)), d.xmat)
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np.testing.assert_allclose(dx.ximat.reshape((3, 9)), d.ximat)
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np.testing.assert_allclose(dx.geom_xmat.reshape((3, 9)), d.geom_xmat)
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np.testing.assert_allclose(dx.site_xmat.reshape((1, 9)), d.site_xmat)
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# tendon data is correct
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np.testing.assert_allclose(dx._impl.ten_length, d.ten_length)
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np.testing.assert_equal(dx._impl.ten_wrapadr, np.zeros((1,)))
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np.testing.assert_equal(dx._impl.ten_wrapnum, np.zeros((1,)))
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np.testing.assert_equal(dx._impl.wrap_obj, np.zeros((2, 2)))
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np.testing.assert_equal(dx._impl.wrap_xpos, np.zeros((2, 6)))
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# efc_ are also shape transformed and padded
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self.assertEqual(dx._impl.efc_J.shape, (45, 8)) # nefc, nv
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d_efc_j = d.efc_J.reshape((-1, 8))
|
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np.testing.assert_allclose(dx._impl.efc_J[:3], d_efc_j[:3]) # connect eq
|
|
np.testing.assert_allclose(
|
|
dx._impl.efc_J[3], d_efc_j[3]
|
|
) # one active limit
|
|
np.testing.assert_allclose(dx._impl.efc_J[4], 0) # one inactive limit
|
|
np.testing.assert_allclose(dx._impl.efc_J[5:15], d_efc_j[4:14]) # contact
|
|
np.testing.assert_allclose(dx._impl.efc_J[15:], 0) # no contact
|
|
|
|
# check another efc_ too
|
|
self.assertEqual(dx._impl.efc_aref.shape, (45,)) # nefc
|
|
np.testing.assert_allclose(dx._impl.efc_aref[:3], d.efc_aref[:3])
|
|
np.testing.assert_allclose(dx._impl.efc_aref[3], d.efc_aref[3])
|
|
np.testing.assert_allclose(dx._impl.efc_aref[4], 0)
|
|
np.testing.assert_allclose(dx._impl.efc_aref[5:15], d.efc_aref[4:14])
|
|
np.testing.assert_allclose(dx._impl.efc_aref[15:], 0)
|
|
|
|
# check sparse transform is correct
|
|
m.opt.jacobian = mujoco.mjtJacobian.mjJAC_SPARSE
|
|
d = mujoco.MjData(m)
|
|
mujoco.mj_step(m, d, 2)
|
|
dx_sparse = mjx.put_data(m, d, impl=impl)
|
|
np.testing.assert_allclose(dx_sparse._impl.efc_J, dx._impl.efc_J, atol=1e-8)
|
|
|
|
# check sparse mass matrices are correct
|
|
np.testing.assert_allclose(dx_sparse._impl.qM, d.qM, atol=1e-8)
|
|
np.testing.assert_allclose(dx_sparse._impl.qLD, d.qLD, atol=1e-8)
|
|
np.testing.assert_allclose(
|
|
dx_sparse._impl.qLDiagInv, d.qLDiagInv, atol=1e-8
|
|
)
|
|
|
|
# check dense mass matrices are correct
|
|
m.opt.jacobian = mujoco.mjtJacobian.mjJAC_DENSE
|
|
d = mujoco.MjData(m)
|
|
mujoco.mj_step(m, d, 2)
|
|
dx_from_dense = mjx.put_data(m, d, impl=impl)
|
|
if impl == 'jax':
|
|
qm = np.zeros((m.nv, m.nv))
|
|
mujoco.mj_fullM(m, qm, d.qM)
|
|
np.testing.assert_allclose(dx_from_dense._impl.qM, qm, atol=1e-8)
|
|
elif impl == 'c':
|
|
np.testing.assert_allclose(dx_from_dense._impl.qM, d.qM, atol=1e-8)
|
|
|
|
@parameterized.parameters(
|
|
('jax', False), ('jax', True), ('c', False), ('c', True)
|
|
)
|
|
def test_get_data(self, impl: str, sparse: bool):
|
|
"""Test that get_data makes correct MjData."""
|
|
m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONSTRAINTS)
|
|
if sparse:
|
|
m.opt.jacobian = mujoco.mjtJacobian.mjJAC_SPARSE
|
|
d = mujoco.MjData(m)
|
|
mujoco.mj_step(m, d, 2)
|
|
dx = mjx.put_data(m, d, impl=impl)
|
|
d_2: mujoco.MjData = mjx.get_data(m, dx)
|
|
|
|
# check a few fields
|
|
np.testing.assert_allclose(d_2.qpos, d.qpos)
|
|
np.testing.assert_allclose(d_2.xpos, d.xpos)
|
|
np.testing.assert_allclose(d_2.cvel, d.cvel)
|
|
np.testing.assert_allclose(d_2.cdof_dot, d.cdof_dot)
|
|
np.testing.assert_allclose(d_2.qM, d.qM)
|
|
np.testing.assert_allclose(d_2.qLD, d.qLD, atol=1e-6)
|
|
np.testing.assert_allclose(d_2.qLDiagInv, d.qLDiagInv, atol=1e-6)
|
|
|
|
# only 1 contact active
|
|
self.assertEqual(d_2.contact.dist.shape, (1,))
|
|
self.assertEqual(d_2.ncon, 1)
|
|
np.testing.assert_allclose(d_2.contact.dist, d.contact.dist)
|
|
self.assertEqual(d_2.contact.frame.shape, (1, 9))
|
|
np.testing.assert_allclose(d_2.contact.frame, d.contact.frame)
|
|
|
|
# xmat, ximat, geom_xmat, site_xmat are all shape transformed
|
|
self.assertEqual(d_2.xmat.shape, (3, 9))
|
|
self.assertEqual(d_2.ximat.shape, (3, 9))
|
|
self.assertEqual(d_2.geom_xmat.shape, (3, 9))
|
|
self.assertEqual(d_2.site_xmat.shape, (1, 9))
|
|
np.testing.assert_allclose(d_2.xmat, d.xmat)
|
|
np.testing.assert_allclose(d_2.ximat, d.ximat)
|
|
np.testing.assert_allclose(d_2.geom_xmat, d.geom_xmat)
|
|
np.testing.assert_allclose(d_2.site_xmat, d.site_xmat)
|
|
|
|
# efc_* are also shape transformed and filtered
|
|
self.assertEqual(d_2.nefc, 14)
|
|
if sparse:
|
|
efc_j = np.zeros((d.nefc, m.nv))
|
|
mujoco.mju_sparse2dense(
|
|
efc_j,
|
|
d.efc_J,
|
|
d.efc_J_rownnz,
|
|
d.efc_J_rowadr,
|
|
d.efc_J_colind,
|
|
)
|
|
efc_j2 = np.zeros((d_2.nefc, m.nv))
|
|
mujoco.mju_sparse2dense(
|
|
efc_j2,
|
|
d_2.efc_J,
|
|
d_2.efc_J_rownnz,
|
|
d_2.efc_J_rowadr,
|
|
d_2.efc_J_colind,
|
|
)
|
|
np.testing.assert_allclose(efc_j, efc_j2)
|
|
else:
|
|
self.assertEqual(d_2.efc_J.shape, (112,)) # nefc * nv
|
|
np.testing.assert_allclose(d_2.efc_J, d.efc_J)
|
|
self.assertEqual(d_2.efc_aref.shape, (14,)) # nefc
|
|
np.testing.assert_allclose(d_2.efc_aref, d.efc_aref)
|
|
np.testing.assert_allclose(d_2.contact.efc_address, d.contact.efc_address)
|
|
|
|
if impl == 'c':
|
|
# check fields specific to the C implementation
|
|
np.testing.assert_allclose(d_2.bvh_active, d.bvh_active)
|
|
|
|
def test_get_data_simplebody(self):
|
|
"""Test that get_data works with simple bodies where nC < nM."""
|
|
m = mujoco.MjModel.from_xml_string(_SIMPLE_BODY)
|
|
d = mujoco.MjData(m)
|
|
mujoco.mj_step(m, d, 2)
|
|
dx = mjx.put_data(m, d)
|
|
d_2: mujoco.MjData = mjx.get_data(m, dx)
|
|
np.testing.assert_allclose(d_2.qLD, d.qLD, atol=1e-6)
|
|
np.testing.assert_allclose(d_2.qLDiagInv, d.qLDiagInv, atol=1e-6)
|
|
|
|
def test_get_data_runs(self):
|
|
xml = """
|
|
<mujoco>
|
|
<compiler autolimits="true"/>
|
|
<worldbody>
|
|
<body name="box">
|
|
<joint name="slide1" type="slide" axis="1 0 0" />
|
|
<geom type="box" size=".05 .05 .05" mass="1"/>
|
|
</body>
|
|
</worldbody>
|
|
<actuator>
|
|
<motor joint="slide1"/>
|
|
</actuator>
|
|
</mujoco>
|
|
"""
|
|
m = mujoco.MjModel.from_xml_string(xml)
|
|
d = mujoco.MjData(m)
|
|
dx = mjx.put_data(m, d)
|
|
mjx.get_data(m, dx)
|
|
|
|
@parameterized.parameters('jax', 'c')
|
|
def test_get_data_batched(self, impl):
|
|
"""Test that get_data makes correct List[MjData] for batched Data."""
|
|
|
|
m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONSTRAINTS)
|
|
d = mujoco.MjData(m)
|
|
mujoco.mj_step(m, d, 2)
|
|
dx = mjx.put_data(m, d, impl=impl)
|
|
# second data in batch has contact dist > 0, disables contact
|
|
dx_b = jax.tree_util.tree_map(lambda x: jp.stack((x, x + 0.05)), dx)
|
|
ds = mjx.get_data(m, dx_b)
|
|
self.assertLen(ds, 2)
|
|
np.testing.assert_allclose(ds[0].qpos, d.qpos)
|
|
np.testing.assert_allclose(ds[1].qpos, d.qpos + 0.05, atol=1e-8)
|
|
self.assertEqual(ds[0].ncon, 1)
|
|
self.assertEqual(ds[1].ncon, 0)
|
|
|
|
@parameterized.parameters('jax', 'c')
|
|
def test_get_data_into(self, impl):
|
|
"""Test that get_data_into correctly populates an MjData."""
|
|
|
|
m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONSTRAINTS)
|
|
d = mujoco.MjData(m)
|
|
mujoco.mj_step(m, d, 2)
|
|
dx = mjx.put_data(m, d, impl=impl)
|
|
d_2 = mujoco.MjData(m)
|
|
mjx.get_data_into(d_2, m, dx)
|
|
|
|
# check a few fields
|
|
np.testing.assert_allclose(d_2.qpos, d.qpos)
|
|
np.testing.assert_allclose(d_2.xpos, d.xpos)
|
|
np.testing.assert_allclose(d_2.qM, d.qM)
|
|
|
|
# only 1 contact active
|
|
self.assertEqual(d_2.contact.dist.shape, (1,))
|
|
self.assertEqual(d_2.ncon, 1)
|
|
np.testing.assert_allclose(d_2.contact.dist, d.contact.dist)
|
|
self.assertEqual(d_2.contact.frame.shape, (1, 9))
|
|
np.testing.assert_allclose(d_2.contact.frame, d.contact.frame)
|
|
|
|
@parameterized.parameters('jax', 'c')
|
|
def test_get_data_into_wrong_shape(self, impl):
|
|
"""Tests that get_data_into throwsif input and output shapes don't match."""
|
|
|
|
m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONSTRAINTS)
|
|
d = mujoco.MjData(m)
|
|
mujoco.mj_step(m, d, 2)
|
|
dx = mjx.put_data(m, d, impl=impl)
|
|
m_2 = mujoco.MjModel.from_xml_string(_MULTIPLE_CONVEX_OBJECTS)
|
|
d_2 = mujoco.MjData(m_2)
|
|
with self.assertRaisesRegex(ValueError, r'Input field.*has shape.*'):
|
|
mjx.get_data_into(d_2, m, dx)
|
|
|
|
@parameterized.parameters('jax', 'c')
|
|
def test_make_matches_put(self, impl):
|
|
"""Test that make_data produces a pytree that matches put_data."""
|
|
m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONSTRAINTS)
|
|
d = mujoco.MjData(m)
|
|
mujoco.mj_step(m, d, 2)
|
|
dx = mjx.put_data(m, d, impl=impl)
|
|
|
|
step_fn = lambda d: d.replace(time=d.time + 1)
|
|
step_fn_jit = jax.jit(step_fn).lower(dx).compile()
|
|
|
|
# placing an MjData onto device should yield the same treedef mjx.Data as
|
|
# calling make_data. they should be interchangeable for jax functions:
|
|
step_fn_jit(mjx.make_data(m, impl=impl))
|
|
|
|
def test_contact_elliptic_condim1(self):
|
|
"""Test that condim=1 with ConeType.ELLIPTIC is not implemented."""
|
|
m = mujoco.MjModel.from_xml_string("""
|
|
<mujoco>
|
|
<worldbody>
|
|
<geom size="0 0 1e-5" type="plane" condim="1"/>
|
|
<body>
|
|
<freejoint/>
|
|
<geom size="0.1" condim="1"/>
|
|
</body>
|
|
</worldbody>
|
|
</mujoco>
|
|
""")
|
|
m.opt.cone = ConeType.ELLIPTIC
|
|
with self.assertRaises(NotImplementedError):
|
|
mjx.make_data(m)
|
|
|
|
@parameterized.product(
|
|
sensor=['accelerometer', 'force', 'torque'], equality=['connect', 'weld']
|
|
)
|
|
def test_sensor_constraint_compatibility(self, sensor, equality):
|
|
"""Test unsupported sensor and equality constraint combinations."""
|
|
equality_constraint = f'{equality} body1="body1" body2="body2"'
|
|
if equality == 'connect':
|
|
equality_constraint += ' anchor="0 0 0"'
|
|
m = mujoco.MjModel.from_xml_string(f"""
|
|
<mujoco>
|
|
<worldbody>
|
|
<body name="body1">
|
|
<freejoint/>
|
|
<geom size="0.1"/>
|
|
<site name="site1"/>
|
|
</body>
|
|
<body name="body2">
|
|
<freejoint/>
|
|
<geom size="0.1"/>
|
|
</body>
|
|
</worldbody>
|
|
<equality>
|
|
<{equality_constraint}/>
|
|
</equality>
|
|
<sensor>
|
|
<{sensor} site="site1"/>
|
|
</sensor>
|
|
</mujoco>
|
|
""")
|
|
with self.assertRaises(NotImplementedError):
|
|
mjx.put_model(m, impl='jax')
|
|
|
|
|
|
class FullCompatTest(parameterized.TestCase):
|
|
"""Tests for the _full_compat flag."""
|
|
|
|
def test_full_compat_deprecated(self):
|
|
"""Tests that _full_compat is deprecated."""
|
|
xml = """
|
|
<mujoco>
|
|
<worldbody>
|
|
<body name="box">
|
|
<joint name="slide1" type="slide" axis="1 0 0" />
|
|
<geom type="box" size=".05 .05 .05" mass="1"/>
|
|
</body>
|
|
</worldbody>
|
|
<actuator>
|
|
<motor joint="slide1"/>
|
|
</actuator>
|
|
</mujoco>
|
|
"""
|
|
m = mujoco.MjModel.from_xml_string(xml)
|
|
with self.assertWarns(DeprecationWarning):
|
|
out = mjx_io.put_model(m, _full_compat=True)
|
|
self.assertEqual(out.impl, Impl.C)
|
|
with self.assertWarns(DeprecationWarning):
|
|
out = mjx_io.make_data(m, _full_compat=True)
|
|
self.assertEqual(out.impl, Impl.C)
|
|
|
|
|
|
# Test cases for `_resolve_impl_and_device` where the device is
|
|
# specified by the user and the device is available.
|
|
_DEVICE_TEST_CASES = [
|
|
# Arguments use the following format:
|
|
# (device_type_str, impl_str,
|
|
# (expected_device, expected_impl)))
|
|
# No backend specified.
|
|
('cpu', None, ('cpu', Impl.C)),
|
|
('gpu-notnvidia', None, ('gpu', Impl.JAX)),
|
|
('gpu-nvidia', None, ('gpu', Impl.WARP)),
|
|
('tpu', None, ('tpu', Impl.JAX)),
|
|
# JAX backend specified.
|
|
('cpu', 'jax', ('cpu', Impl.JAX)),
|
|
('gpu-notnvidia', 'jax', ('gpu', Impl.JAX)),
|
|
('gpu-nvidia', 'jax', ('gpu', Impl.JAX)),
|
|
('tpu', 'jax', ('tpu', Impl.JAX)),
|
|
# WARP backend specified.
|
|
('cpu', 'warp', ('cpu', 'error')),
|
|
('gpu-notnvidia', 'warp', ('cpu', 'error')),
|
|
('gpu-nvidia', 'warp', ('gpu', Impl.WARP)),
|
|
('tpu', 'warp', ('tpu', 'error')),
|
|
# C backend specified.
|
|
('cpu', 'c', ('cpu', Impl.C)),
|
|
('gpu-notnvidia', 'c', ('cpu', 'error')),
|
|
('gpu-nvidia', 'c', ('cpu', 'error')),
|
|
('tpu', 'c', ('tpu', 'error')),
|
|
]
|
|
|
|
# Test cases for `_resolve_impl_and_device` where the user does NOT
|
|
# specify a device. We mock the JAX default device.
|
|
_DEFAULT_DEVICE_TEST_CASES = [
|
|
# Arguments use the following format:
|
|
# (jax.default_device, impl_str,
|
|
# (expected_device, expected_impl))
|
|
# No backend impl specified.
|
|
('cpu', None, ('cpu', Impl.C)),
|
|
('gpu-notnvidia', None, ('gpu', Impl.JAX)),
|
|
('gpu-nvidia', None, ('gpu', Impl.WARP)),
|
|
('tpu', None, ('tpu', Impl.JAX)),
|
|
# JAX backend impl specified.
|
|
('cpu', 'jax', ('cpu', Impl.JAX)),
|
|
('gpu-notnvidia', 'jax', ('gpu', Impl.JAX)),
|
|
('gpu-nvidia', 'jax', ('gpu', Impl.JAX)),
|
|
('tpu', 'jax', ('tpu', Impl.JAX)),
|
|
# WARP backend impl specified.
|
|
('cpu', 'warp', ('cpu', 'error')),
|
|
('gpu-notnvidia', 'warp', ('cpu', 'error')),
|
|
('gpu-nvidia', 'warp', ('gpu', Impl.WARP)),
|
|
('tpu', 'warp', ('tpu', 'error')),
|
|
# C backend impl specified, CPU should always be available.
|
|
('cpu', 'c', ('cpu', Impl.C)),
|
|
('gpu-notnvidia', 'c', ('cpu', Impl.C)),
|
|
('gpu-nvidia', 'c', ('cpu', Impl.C)),
|
|
('tpu', 'c', ('cpu', Impl.C)),
|
|
]
|
|
|
|
|
|
class ResolveImplAndDeviceTest(parameterized.TestCase):
|
|
"""Tests for the _resolve_impl_and_device function."""
|
|
|
|
def setUp(self):
|
|
super().setUp()
|
|
|
|
# Create mock devices
|
|
self.mock_cpu = mock.Mock(spec=jax.Device)
|
|
self.mock_cpu.platform = 'cpu'
|
|
self.mock_cpu.device_kind = 'Mock CPU'
|
|
self.mock_cpu.id = 0
|
|
|
|
self.mock_nvidia_gpu = mock.Mock(spec=jax.Device)
|
|
self.mock_nvidia_gpu.platform = 'gpu'
|
|
self.mock_nvidia_gpu.device_kind = 'NVIDIA Mocked GPU'
|
|
self.mock_nvidia_gpu.id = 0
|
|
|
|
self.mock_other_gpu = mock.Mock(spec=jax.Device)
|
|
self.mock_other_gpu.platform = 'gpu'
|
|
self.mock_other_gpu.device_kind = 'Other Mocked GPU'
|
|
self.mock_other_gpu.id = 1
|
|
|
|
self.mock_tpu = mock.Mock(spec=jax.Device)
|
|
self.mock_tpu.platform = 'tpu'
|
|
self.mock_tpu.device_kind = 'Mock TPU'
|
|
self.mock_tpu.id = 0
|
|
|
|
# Patch jax.devices for the entire test class using enter_context
|
|
self.mock_jax_devices = self.enter_context(mock.patch('jax.devices'))
|
|
self.mock_default_backend = self.enter_context(
|
|
mock.patch('jax.default_backend')
|
|
)
|
|
|
|
@parameterized.named_parameters(
|
|
(f'{str(args[0])}_{str(args[1])}', *args) for args in _DEVICE_TEST_CASES
|
|
)
|
|
@mock.patch.dict(
|
|
os.environ, {'MJX_WARP_ENABLED': 'true', 'MJX_C_DEFAULT_ENABLED': 'true'}
|
|
)
|
|
def test_resolve_with_device(
|
|
self,
|
|
device_type_str,
|
|
impl_str,
|
|
expected,
|
|
):
|
|
"""Tests various combinations of device and backend impls."""
|
|
input_device = {
|
|
'cpu': self.mock_cpu,
|
|
'gpu-nvidia': self.mock_nvidia_gpu,
|
|
'gpu-notnvidia': self.mock_other_gpu,
|
|
'tpu': self.mock_tpu,
|
|
}[device_type_str]
|
|
|
|
def devices_side_effect(backend=None):
|
|
# assume the user-specified device is always available
|
|
if backend == 'cpu':
|
|
return [self.mock_cpu]
|
|
elif backend == 'gpu':
|
|
if 'nvidia' in device_type_str:
|
|
return [self.mock_nvidia_gpu]
|
|
return [self.mock_other_gpu]
|
|
elif backend == 'tpu':
|
|
return [self.mock_tpu]
|
|
elif backend == 'cuda':
|
|
return [self.mock_nvidia_gpu]
|
|
|
|
raise AssertionError('Should not be called.')
|
|
|
|
self.mock_jax_devices.side_effect = devices_side_effect
|
|
|
|
expected_device, expected_impl = expected
|
|
if expected_impl == 'error':
|
|
with self.assertRaises(AssertionError):
|
|
mjx_io._resolve_impl_and_device(
|
|
impl=impl_str, device=input_device
|
|
)
|
|
return
|
|
|
|
actual_impl, actual_device = (
|
|
mjx_io._resolve_impl_and_device(
|
|
impl=impl_str, device=input_device
|
|
)
|
|
)
|
|
|
|
self.assertEqual(actual_impl, expected_impl)
|
|
self.assertIsNotNone(actual_device)
|
|
self.assertEqual(actual_device.platform, expected_device)
|
|
|
|
@parameterized.named_parameters(
|
|
(f'{str(args[0])}_{str(args[1])}', *args)
|
|
for args in _DEFAULT_DEVICE_TEST_CASES
|
|
)
|
|
@mock.patch.dict(
|
|
os.environ, {'MJX_WARP_ENABLED': 'true', 'MJX_C_DEFAULT_ENABLED': 'true'}
|
|
)
|
|
def test_resolve_without_device(
|
|
self,
|
|
default_device_str,
|
|
impl_str,
|
|
expected,
|
|
):
|
|
"""Tests various combinations of jax.default_device and backend impls."""
|
|
default_devices = {
|
|
'cpu': [self.mock_cpu],
|
|
'gpu-nvidia': [self.mock_nvidia_gpu, self.mock_cpu],
|
|
'gpu-notnvidia': [self.mock_other_gpu, self.mock_cpu],
|
|
'tpu': [self.mock_tpu, self.mock_cpu],
|
|
}[default_device_str]
|
|
|
|
def devices_side_effect(backend=None):
|
|
if backend == 'cpu':
|
|
return [self.mock_cpu] # CPU is always available
|
|
if backend == 'gpu' and default_device_str == 'gpu-notnvidia':
|
|
return [self.mock_other_gpu]
|
|
if backend == 'gpu' and default_device_str == 'gpu-nvidia':
|
|
return [self.mock_nvidia_gpu]
|
|
if backend == 'cuda' and default_device_str == 'gpu-nvidia':
|
|
return [self.mock_nvidia_gpu]
|
|
if backend == 'tpu' and default_device_str == 'tpu':
|
|
return [self.mock_tpu]
|
|
if backend is None:
|
|
return default_devices
|
|
if backend == 'cuda':
|
|
raise RuntimeError('cuda backend not supported')
|
|
raise AssertionError('jax.devices error')
|
|
|
|
self.mock_jax_devices.side_effect = devices_side_effect
|
|
default_device_side_effect_str = {
|
|
'cpu': 'cpu',
|
|
'gpu-nvidia': 'gpu',
|
|
'gpu-notnvidia': 'gpu',
|
|
'tpu': 'tpu',
|
|
}[default_device_str]
|
|
self.mock_default_backend.side_effect = (
|
|
lambda: default_device_side_effect_str
|
|
)
|
|
|
|
expected_device, expected_impl = expected
|
|
if (
|
|
expected_impl == 'error'
|
|
and default_device_str != 'gpu-nvidia'
|
|
and impl_str == 'warp'
|
|
):
|
|
with self.assertRaisesRegex(RuntimeError, 'cuda backend not supported'):
|
|
mjx_io._resolve_impl_and_device(
|
|
impl=impl_str, device=None
|
|
)
|
|
return
|
|
|
|
if expected_impl == 'error':
|
|
with self.assertRaises(AssertionError):
|
|
mjx_io._resolve_impl_and_device(
|
|
impl=impl_str, device=None
|
|
)
|
|
return
|
|
|
|
actual_impl, actual_device = (
|
|
mjx_io._resolve_impl_and_device(
|
|
impl=impl_str, device=None
|
|
)
|
|
)
|
|
|
|
self.assertEqual(actual_impl, expected_impl)
|
|
self.assertIsNotNone(actual_device)
|
|
self.assertEqual(actual_device.platform, expected_device)
|
|
|
|
@mock.patch.dict(os.environ, {'MJX_WARP_ENABLED': 'false'})
|
|
def test_resolve_warp_disabled(self):
|
|
"""Tests behavior when MJX_WARP_ENABLED is false."""
|
|
self.mock_jax_devices.side_effect = lambda backend=None: (
|
|
[self.mock_nvidia_gpu, self.mock_cpu]
|
|
if backend is None
|
|
else ([self.mock_nvidia_gpu] if backend == 'gpu' else [self.mock_cpu])
|
|
)
|
|
self.mock_default_backend.side_effect = lambda: 'gpu'
|
|
|
|
# Default to JAX instead of WARP on NVIDIA GPU.
|
|
impl, device = mjx_io._resolve_impl_and_device(
|
|
impl=None, device=None
|
|
)
|
|
self.assertEqual(impl, Impl.JAX)
|
|
self.assertEqual(device.platform, 'gpu')
|
|
|
|
# Specifying an NVIDIA GPU should still choose JAX.
|
|
impl, device = mjx_io._resolve_impl_and_device(
|
|
impl=None, device=self.mock_nvidia_gpu
|
|
)
|
|
self.assertEqual(impl, Impl.JAX)
|
|
self.assertEqual(device.platform, 'gpu')
|
|
|
|
# Requesting warp explicitly should fail since it is disabled.
|
|
with self.assertRaises(AssertionError):
|
|
mjx_io._resolve_impl_and_device(
|
|
impl='warp', device=self.mock_nvidia_gpu
|
|
)
|
|
with self.assertRaises(AssertionError):
|
|
mjx_io._resolve_impl_and_device(impl='warp', device=None)
|
|
|
|
@mock.patch.dict(os.environ, {'MJX_C_DEFAULT_ENABLED': 'false'})
|
|
def test_resolve_c_disabled(self):
|
|
"""Tests behavior when MJX_C_DEFAULT_ENABLED is false."""
|
|
# Users expect that CPU defaults to the JAX impl. But in the future, it will
|
|
# default to the C backend implementation. This test checks that
|
|
# MJX_C_DEFAULT_ENABLED=false defaults to the old behavior, until the
|
|
# migration to MJEP-15 is complete.
|
|
self.mock_jax_devices.side_effect = lambda backend=None: ([self.mock_cpu])
|
|
self.mock_default_backend.side_effect = lambda: 'cpu'
|
|
|
|
# Default to JAX instead of C on CPU.
|
|
impl, device = mjx_io._resolve_impl_and_device(
|
|
impl=None, device=None
|
|
)
|
|
self.assertEqual(impl, Impl.JAX)
|
|
self.assertEqual(device.platform, 'cpu')
|
|
|
|
# Specifing CPU should still choose JAX.
|
|
impl, device = mjx_io._resolve_impl_and_device(
|
|
impl=None, device=self.mock_cpu
|
|
)
|
|
self.assertEqual(impl, Impl.JAX)
|
|
self.assertEqual(device.platform, 'cpu')
|
|
|
|
# Specifying C should choose C!
|
|
impl, device = mjx_io._resolve_impl_and_device(
|
|
impl='c', device=None
|
|
)
|
|
self.assertEqual(impl, Impl.C)
|
|
self.assertEqual(device.platform, 'cpu')
|
|
|
|
impl, device = mjx_io._resolve_impl_and_device(
|
|
impl='c', device=self.mock_cpu
|
|
)
|
|
self.assertEqual(impl, Impl.C)
|
|
self.assertEqual(device.platform, 'cpu')
|
|
|
|
|
|
if __name__ == '__main__':
|
|
absltest.main()
|