Taylor Howell
096853e192
PiperOrigin-RevId: 686083761 Change-Id: I5159d050812d32e15ced06df132d3e434fced814
86 lines
2.7 KiB
Python
86 lines
2.7 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 passive forces."""
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from absl.testing import absltest
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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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# tolerance for difference between MuJoCo and MJX passive calculations - mostly
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# due to float precision
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_TOLERANCE = 1e-7
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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 PassiveTest(absltest.TestCase):
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def test_passive(self):
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m = test_util.load_test_file('pendula.xml')
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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.ctrl = np.array(
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[0.1, -0.1, 0.2, 0.3, -0.4, 0.5, -0.6, 0.1, -0.2, 0.1, 0.2]
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)
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mujoco.mj_step(m, d, 10) # let dynamics get state significantly non-zero
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mujoco.mj_forward(m, d)
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mx = mjx.put_model(m)
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dx = jax.jit(mjx.passive)(mx, mjx.put_data(m, d))
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_assert_attr_eq(d, dx, 'qfrc_passive')
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_assert_attr_eq(d, dx, 'qfrc_gravcomp')
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# test with fluid forces
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m.opt.density = 0.01
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mujoco.mj_forward(m, d)
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mx = mjx.put_model(m)
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dx = jax.jit(mjx.passive)(mx, mjx.put_data(m, d))
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_assert_attr_eq(d, dx, 'qfrc_passive')
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_assert_attr_eq(d, dx, 'qfrc_gravcomp')
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m.opt.viscosity = 0.02
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mujoco.mj_forward(m, d)
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mx = mjx.put_model(m)
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dx = jax.jit(mjx.passive)(mx, mjx.put_data(m, d))
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_assert_attr_eq(d, dx, 'qfrc_passive')
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_assert_attr_eq(d, dx, 'qfrc_gravcomp')
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m.opt.wind = np.array([0.03, 0.04, 0.05])
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mujoco.mj_forward(m, d)
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mx = mjx.put_model(m)
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dx = jax.jit(mjx.passive)(mx, mjx.put_data(m, d))
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_assert_attr_eq(d, dx, 'qfrc_passive')
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_assert_attr_eq(d, dx, 'qfrc_gravcomp')
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# test disable passive
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mx = mx.tree_replace({'opt.disableflags': mjx.DisableBit.PASSIVE})
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dx = jax.jit(mjx.passive)(mx, mjx.put_data(m, d))
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np.testing.assert_allclose(dx.qfrc_passive, 0)
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if __name__ == '__main__':
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absltest.main()
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