Baruch Tabanpour
6cfea71985
PiperOrigin-RevId: 755935704 Change-Id: Ic135cd00137c2857c73c683ed9fdc5ac4418715d
176 lines
6.2 KiB
Python
176 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 constraint functions."""
|
|
|
|
from absl.testing import absltest
|
|
from absl.testing import parameterized
|
|
from jax import numpy as jp
|
|
import mujoco
|
|
from mujoco import mjx
|
|
from mujoco.mjx._src import constraint
|
|
from mujoco.mjx._src import test_util
|
|
import numpy as np
|
|
|
|
|
|
# tolerance for difference between MuJoCo and MJX constraint 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 ConstraintTest(parameterized.TestCase):
|
|
|
|
def setUp(self):
|
|
super().setUp()
|
|
np.random.seed(42)
|
|
|
|
@parameterized.parameters(
|
|
{'cone': mujoco.mjtCone.mjCONE_PYRAMIDAL, 'rand_eq_active': False},
|
|
{'cone': mujoco.mjtCone.mjCONE_ELLIPTIC, 'rand_eq_active': False},
|
|
{'cone': mujoco.mjtCone.mjCONE_PYRAMIDAL, 'rand_eq_active': True},
|
|
{'cone': mujoco.mjtCone.mjCONE_ELLIPTIC, 'rand_eq_active': True},
|
|
)
|
|
def test_constraints(self, cone, rand_eq_active):
|
|
"""Test constraints."""
|
|
m = test_util.load_test_file('constraints.xml')
|
|
m.opt.cone = cone
|
|
d = mujoco.MjData(m)
|
|
|
|
# sample a mix of active/inactive constraints at different timesteps
|
|
for key in range(3):
|
|
mujoco.mj_resetDataKeyframe(m, d, key)
|
|
if rand_eq_active:
|
|
d.eq_active[:] = np.random.randint(0, 2, size=m.neq)
|
|
mujoco.mj_forward(m, d)
|
|
mx = mjx.put_model(m)
|
|
dx = mjx.put_data(m, d)
|
|
dx = mjx.make_constraint(mx, dx)
|
|
|
|
order = test_util.efc_order(m, d, dx)
|
|
d_efc_j = d.efc_J.reshape((-1, m.nv))
|
|
_assert_eq(d_efc_j, dx._impl.efc_J[order][: d.nefc], 'efc_J')
|
|
_assert_eq(0, dx._impl.efc_J[order][d.nefc :], 'efc_J')
|
|
_assert_eq(d.efc_aref, dx._impl.efc_aref[order][: d.nefc], 'efc_aref')
|
|
_assert_eq(0, dx._impl.efc_aref[order][d.nefc :], 'efc_aref')
|
|
_assert_eq(d.efc_D, dx._impl.efc_D[order][: d.nefc], 'efc_D')
|
|
_assert_eq(d.efc_pos, dx._impl.efc_pos[order][: d.nefc], 'efc_pos')
|
|
_assert_eq(dx._impl.efc_pos[order][d.nefc :], 0, 'efc_pos')
|
|
_assert_eq(
|
|
d.efc_frictionloss,
|
|
dx._impl.efc_frictionloss[order][: d.nefc],
|
|
'efc_frictionloss',
|
|
)
|
|
|
|
def test_disable_refsafe(self):
|
|
m = test_util.load_test_file('constraints.xml')
|
|
|
|
timeconst = m.opt.timestep / 4.0 # timeconst < 2 * timestep
|
|
solimp = jp.array([timeconst, 1.0])
|
|
solref = jp.array([0.8, 0.99, 0.001, 0.2, 2])
|
|
pos = jp.ones(3)
|
|
|
|
m.opt.disableflags = m.opt.disableflags | mjx.DisableBit.REFSAFE
|
|
mx = mjx.put_model(m)
|
|
k, *_ = constraint._kbi(mx, solimp, solref, pos)
|
|
self.assertEqual(k, 1 / (0.99**2 * timeconst**2))
|
|
|
|
def test_disable_constraint(self):
|
|
m = test_util.load_test_file('constraints.xml')
|
|
m.opt.disableflags = m.opt.disableflags | mjx.DisableBit.CONSTRAINT
|
|
ne, nf, nl, nc = constraint.counts(constraint.make_efc_type(m))
|
|
self.assertEqual(ne, 0)
|
|
self.assertEqual(nf, 0)
|
|
self.assertEqual(nl, 0)
|
|
self.assertEqual(nc, 0)
|
|
dx = constraint.make_constraint(mjx.put_model(m), mjx.make_data(m))
|
|
self.assertEqual(dx._impl.efc_J.shape[0], 0)
|
|
|
|
def test_disable_equality(self):
|
|
m = test_util.load_test_file('constraints.xml')
|
|
m.opt.disableflags = m.opt.disableflags | mjx.DisableBit.EQUALITY
|
|
ne, nf, nl, nc = constraint.counts(constraint.make_efc_type(m))
|
|
self.assertEqual(ne, 0)
|
|
self.assertEqual(nf, 2)
|
|
self.assertEqual(nl, 5)
|
|
self.assertEqual(nc, 180)
|
|
dx = constraint.make_constraint(mjx.put_model(m), mjx.make_data(m))
|
|
self.assertEqual(
|
|
dx._impl.efc_J.shape[0], 187
|
|
) # only joint/tendon limit, contact
|
|
|
|
def test_disable_contact(self):
|
|
m = test_util.load_test_file('constraints.xml')
|
|
m.opt.disableflags = m.opt.disableflags | mjx.DisableBit.CONTACT
|
|
ne, nf, nl, nc = constraint.counts(constraint.make_efc_type(m))
|
|
self.assertEqual(ne, 20)
|
|
self.assertEqual(nf, 2)
|
|
self.assertEqual(nl, 5)
|
|
self.assertEqual(nc, 0)
|
|
dx = constraint.make_constraint(mjx.put_model(m), mjx.make_data(m))
|
|
self.assertEqual(
|
|
dx._impl.efc_J.shape[0], 27
|
|
) # only equality, joint/tendon limit
|
|
|
|
def test_disable_frictionloss(self):
|
|
m = test_util.load_test_file('constraints.xml')
|
|
m.opt.disableflags = m.opt.disableflags | mjx.DisableBit.FRICTIONLOSS
|
|
ne, nf, nl, nc = constraint.counts(constraint.make_efc_type(m))
|
|
self.assertEqual(ne, 20)
|
|
self.assertEqual(nf, 0)
|
|
self.assertEqual(nl, 5)
|
|
self.assertEqual(nc, 180)
|
|
dx = constraint.make_constraint(mjx.put_model(m), mjx.make_data(m))
|
|
self.assertEqual(dx._impl.efc_J.shape[0], 205)
|
|
|
|
def test_margin(self):
|
|
"""Test margin."""
|
|
m = mujoco.MjModel.from_xml_string("""
|
|
<mujoco>
|
|
<worldbody>
|
|
<geom name="floor" size="0 0 .05" type="plane" condim="3"/>
|
|
<body pos="0 0 0.1">
|
|
<freejoint/>
|
|
<geom size="0.1" margin="0.25"/>
|
|
</body>
|
|
<body pos="0 0 1">
|
|
<joint type="hinge" limited="true" range="-1 1" margin="0.005"/>
|
|
<geom size="1" margin="0.01"/>
|
|
</body>
|
|
</worldbody>
|
|
</mujoco>
|
|
""")
|
|
d = mujoco.MjData(m)
|
|
mujoco.mj_forward(m, d)
|
|
mx = mjx.put_model(m)
|
|
dx = mjx.put_data(m, d)
|
|
dx = mjx.make_constraint(mx, dx)
|
|
|
|
order = test_util.efc_order(m, d, dx)
|
|
_assert_eq(d.efc_pos, dx._impl.efc_pos[order][: d.nefc], 'efc_pos')
|
|
_assert_eq(d.efc_margin, dx._impl.efc_margin[order][: d.nefc], 'efc_margin')
|
|
|
|
|
|
if __name__ == '__main__':
|
|
absltest.main()
|