Baruch Tabanpour
f3b3024291
PiperOrigin-RevId: 704533915 Change-Id: I37e9fd51261bd166b725c7460fc65d02fed2b391
125 lines
4.0 KiB
Python
125 lines
4.0 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 sensor 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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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 test_util
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from mujoco.mjx._src.types import ConeType
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import numpy as np
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# tolerance for difference between MuJoCo and MJX smooth calculations - mostly
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# due to float precision
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_TOLERANCE = 5e-5
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def _assert_eq(a, b, name):
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tol = _TOLERANCE * 10 # avoid test noise
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err_msg = f'mismatch: {name}'
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np.testing.assert_allclose(a, b, err_msg=err_msg, atol=tol, rtol=tol)
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def _assert_attr_eq(a, b, attr):
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_assert_eq(getattr(a, attr), getattr(b, attr), attr)
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class SensorTest(parameterized.TestCase):
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@parameterized.product(
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filename=['sensor/model.xml', 'sensor/sensor.xml'],
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cone_type=list(ConeType),
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)
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def test_sensor(self, filename, cone_type):
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"""Tests MJX sensor functions match MuJoCo sensor functions."""
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m = test_util.load_test_file(filename)
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m.opt.cone = cone_type
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d = mujoco.MjData(m)
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# give the system a little kick to ensure we have non-identity rotations
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d.qvel = 0.1 * np.random.random(m.nv)
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# apply external forces
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d.xfrc_applied = 0.1 * np.random.random(d.xfrc_applied.shape)
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# apply control for activation dynamics
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d.ctrl = np.clip(
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0.1 * np.random.random(m.nu),
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m.actuator_ctrlrange[:, 0],
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m.actuator_ctrlrange[:, 1],
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)
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mujoco.mj_step(m, d, 100)
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mujoco.mj_forward(m, d)
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mx = mjx.put_model(m)
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dx = mjx.put_data(m, d).replace(
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sensordata=jp.zeros_like(d.sensordata),
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subtree_linvel=jp.zeros_like(d.subtree_linvel),
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subtree_angmom=jp.zeros_like(d.subtree_angmom),
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cacc=jp.zeros_like(d.cacc),
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cfrc_int=jp.zeros_like(d.cfrc_int),
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cfrc_ext=jp.zeros_like(d.cfrc_ext),
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)
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dx = jax.jit(mjx.sensor_pos)(mx, dx)
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dx = jax.jit(mjx.sensor_vel)(mx, dx)
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dx = jax.jit(mjx.sensor_acc)(mx, dx)
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_assert_eq(d.sensordata, dx.sensordata, 'sensordata')
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def test_disable_sensor(self):
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"""Tests disabling sensor."""
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m = test_util.load_test_file('sensor/sensor.xml')
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# disable sensors
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m.opt.disableflags = m.opt.disableflags | mjx.DisableBit.SENSOR
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d = mujoco.MjData(m)
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# give the system a little kick to ensure we have non-identity rotations
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d.qvel = np.random.random(m.nv)
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mujoco.mj_step(m, d, 10) # let dynamics get state significantly non-zero
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mx = mjx.put_model(m)
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dx = mjx.put_data(m, d)
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# random sensor values
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random_sensor = jp.array(np.random.random(dx.sensordata.shape))
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dx = dx.replace(sensordata=random_sensor)
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# call sensor functions
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dx = jax.jit(mjx.forward)(mx, dx)
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# sensor values
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_assert_eq(random_sensor, dx.sensordata, 'sensordata')
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def test_unsupported_sensor(self):
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"""Tests unsupported sensor raises error."""
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m = mujoco.MjModel.from_xml_string("""
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<mujoco>
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<worldbody>
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<body>
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<joint type="hinge"/>
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<geom name="geom0" size="0.1"/>
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<body>
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<joint type="hinge"/>
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<geom name="geom1" size="0.25"/>
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</body>
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</body>
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</worldbody>
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<sensor>
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<distance name="distance" geom1="geom0" geom2="geom1"/>
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</sensor>
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</mujoco>
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""")
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with self.assertRaises(NotImplementedError):
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mjx.put_model(m)
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if __name__ == '__main__':
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absltest.main()
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