Erik Frey
b3ccf67ebf
PiperOrigin-RevId: 588304729 Change-Id: I58075383e6eed64ae00cea305a568eba6465b0b0
71 lines
2.2 KiB
Python
71 lines
2.2 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 forward functions."""
|
|
|
|
from absl.testing import absltest
|
|
from absl.testing import parameterized
|
|
import jax
|
|
import mujoco
|
|
from mujoco import mjx
|
|
from mujoco.mjx._src import test_util
|
|
import numpy as np
|
|
|
|
|
|
def _assert_attr_eq(a, b, attr, step, fname, atol=1e-3, rtol=1e-3):
|
|
err_msg = f'mismatch: {attr} at step {step} in {fname}'
|
|
a, b = getattr(a, attr), getattr(b, attr)
|
|
np.testing.assert_allclose(a, b, err_msg=err_msg, atol=atol, rtol=rtol)
|
|
|
|
|
|
class ActuationIntegrationTest(parameterized.TestCase):
|
|
|
|
@parameterized.parameters(list(range(30)))
|
|
def test_actuation(self, seed):
|
|
mjcf = test_util.create_mjcf(
|
|
seed,
|
|
max_trees=1,
|
|
max_tree_depth=5,
|
|
body_pos=(0.0, 0.0, -0.5),
|
|
geom_pos=(0.0, 0.5, 0.0),
|
|
disable_actuation_pct=10,
|
|
add_actuators=True,
|
|
max_contact_excludes=2,
|
|
enable_contact=False,
|
|
)
|
|
m = mujoco.MjModel.from_xml_string(mjcf)
|
|
actuation_jit_fn = jax.jit(mjx.fwd_actuation)
|
|
|
|
# init
|
|
d = mujoco.MjData(m)
|
|
d.ctrl = np.random.normal(scale=10, size=m.nu)
|
|
d.act = np.random.normal(scale=10, size=m.na)
|
|
d.qvel = np.random.random(m.nv)
|
|
mujoco.mj_fwdPosition(m, d)
|
|
mujoco.mj_fwdVelocity(m, d)
|
|
|
|
# put on device
|
|
mx = mjx.put_model(m)
|
|
dx = mjx.put_data(m, d)
|
|
|
|
mujoco.mj_fwdActuation(m, d)
|
|
dx = actuation_jit_fn(mx, dx)
|
|
|
|
_assert_attr_eq(d, dx, 'qfrc_actuator', seed, f'actuator{seed}')
|
|
_assert_attr_eq(d, dx, 'act_dot', seed, f'actuator{seed}')
|
|
|
|
|
|
if __name__ == '__main__':
|
|
absltest.main()
|